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Calculation Method of Static Friction Forces for Multi-Joint Manipulators
http://hdl.handle.net/10228/0002001001
http://hdl.handle.net/10228/0002001001672c9f6a-0f73-4d4e-8508-029b79274172
| 名前 / ファイル | ライセンス | アクション |
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10441980.pdf (429.0 KB)
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| Item type | 学術雑誌論文 = Journal Article(1) | |||||||||||||
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| 公開日 | 2024-11-05 | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||
| 資源タイプ | journal article | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | Calculation Method of Static Friction Forces for Multi-Joint Manipulators | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
Murayama, Yusuke
× Murayama, Yusuke
× 福井, 善朗
WEKO
35562
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | The static friction force is an important element of practical problems, such as the model-based control design of mechanical systems described by the Euler-Lagrange equations. The difficulty in calculating the static friction force, represented by a discontinuous function, lies in the fact that the differential equations representing the equations of motion become discontinuous differential-algebraic equations (DAEs). To solve the discontinuous DAEs using numerical methods, we need to solve a non-differential implicit algebraic equation at each step. In this letter, we propose an algorithm for calculating the static friction force by solving the implicit algebraic equation. Theoretical analysis shows that the friction force exists uniquely. This ensures that the proposed algorithm obtains a unique value for the static friction force. Moreover, the number of iterations in the proposed algorithm is only 3n at worst, where n denotes the number of manipulator joints. Hence, the proposed method matches numerical differential equation solvers, such as the Euler method. The effectiveness of the proposed method was validated through simulations using simple mechanical systems. | |||||||||||||
| 言語 | en | |||||||||||||
| 書誌情報 |
en : IEEE Control Systems Letters 巻 8, p. 1925-1930, 発行日 2024-06-20 |
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| 出版社 | ||||||||||||||
| 出版者 | IEEE | |||||||||||||
| 言語 | en | |||||||||||||
| DOI | ||||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.1109/LCSYS.2024.3417454 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||||
| 収録物識別子 | 2475-1456 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | Copyright (c) 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Mechatronics | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | differential-algebraic systems | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | numerical algorithms | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | modeling | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | AM | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||||
| 査読の有無 | ||||||||||||||
| 値 | yes | |||||||||||||
| 研究者情報 | ||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/100001141_ja.html | |||||||||||||
| 論文ID（連携） | ||||||||||||||
| 値 | 10441980 | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 12419 | |||||||||||||
