The Impact of Friction on the Dynamics of Parallel Robotic Manipulators
作者： Houssem Abdellatif , Bodo Heimann , Martin Grotjahn
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摘要: In this paper an overview on joint-friction for parallel kinematic manipulators (PKM) is proposed. An efficient modeling approach given, where dissipation in all passive and active joints are uniformly formulated transformed the actuation space parameter-linear form. Furthermore, it shown, how friction characteristics can be identified independently from any other dynamic influences. Two sections considered to practical issues of terms feedforward time-optimal control.
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