Parameter Identification of LuGre Friction Model for Robot Joints

Ya Qing Zheng

doi:10.4028/www.scientific.net/AMR.479-481.1084

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 479-481Parameter Identification of LuGre Friction Model...

Parameter Identification of LuGre Friction Model for Robot Joints

Abstract:

The LuGre friction model well captures most of the friction behavior, but it was very difficult to identify the parameters of the LuGre model. The LuGre friction model, theory of static and dynamic parameters identification of the LuGre model as well as the algorithm based on particle swarm optimization are summarized according to the previous work. Then the programs for the static and dynamic parameters identification are made and analyzed in the environment of Matlab software in detail, and the identification results are given. The work mentioned above will lay the theoretical foundation for the future experimental validations and provide the detailed models, algorithms and programs for the corresponding research issues.

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Periodical:

Advanced Materials Research (Volumes 479-481)

Pages:

1084-1090

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.479-481.1084

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Online since:

February 2012

Authors:

Ya Qing Zheng

Keywords:

LuGre Friction Model, Parameter Identification, Particle Swarm Optimization Algorithm (PSO), Programming, Robot Joints

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