Dynamic Model of a Robotic Manipulator with One Degree of Freedom with Friction Component

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MetadadosDescriçãoIdioma
Autor(es): dc.contributorUniversidade Estadual Paulista (UNESP)-
Autor(es): dc.contributorFederal University of Technology – Paraná – Doutor Washington Subtil Chueire St-
Autor(es): dc.creatorJunior, Jose A. G. Luz-
Autor(es): dc.creatorBalthazar, Jose M.-
Autor(es): dc.creatorRibeiro, Mauricio A.-
Autor(es): dc.creatorJanzen, Frederic C.-
Autor(es): dc.creatorTusset, Angelo M.-
Data de aceite: dc.date.accessioned2025-08-21T21:12:56Z-
Data de disponibilização: dc.date.available2025-08-21T21:12:56Z-
Data de envio: dc.date.issued2025-04-29-
Data de envio: dc.date.issued2022-12-31-
Fonte completa do material: dc.identifierhttp://dx.doi.org/10.31763/ijrcs.v3i2.984-
Fonte completa do material: dc.identifierhttps://hdl.handle.net/11449/305968-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/11449/305968-
Descrição: dc.descriptionThis research aims to develop a dynamic model of a robotic manipulator with one degree of freedom by incorporating the LuGre friction model. The study combines a mathematical model with experimental data analysis, using the Stribeck curve and Non-linear Least Square method for Parameter Identification. The purpose of the study is to improve the accuracy of the model and enhance the performance of robotic manipulators. The LuGre model is chosen for its ability to capture the nonlinear behavior of friction, which is a significant source of error in robot control systems. The effectiveness of the proposed representation is evaluated by comparing the simulation results of the dynamic model with experimental data obtained from a prototype. The results indicate that the model accurately captures the nonlinear behavior of friction, and the proposed approach can be used to develop more accurate models for control purposes.-
Descrição: dc.descriptionCoordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)-
Descrição: dc.descriptionConselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)-
Descrição: dc.descriptionFundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)-
Descrição: dc.descriptionDepartment of Electrical Engineering São Paulo State University Faculty of Mechanical Engineering of Bauru, Av. Eng. Luiz Edmundo C. Coube 14-01-Vargem Limpa, SP-
Descrição: dc.descriptionFederal University of Technology – Paraná – Doutor Washington Subtil Chueire St, 330, Paraná-
Descrição: dc.descriptionDepartment of Electrical Engineering São Paulo State University Faculty of Mechanical Engineering of Bauru, Av. Eng. Luiz Edmundo C. Coube 14-01-Vargem Limpa, SP-
Formato: dc.format315-329-
Idioma: dc.languageen-
Relação: dc.relationInternational Journal of Robotics and Control Systems-
???dc.source???: dc.sourceScopus-
Palavras-chave: dc.subjectFriction-
Palavras-chave: dc.subjectLuGre-
Palavras-chave: dc.subjectParameter Identification-
Palavras-chave: dc.subjectRobotic Dynamics-
Título: dc.titleDynamic Model of a Robotic Manipulator with One Degree of Freedom with Friction Component-
Tipo de arquivo: dc.typelivro digital-
Aparece nas coleções:Repositório Institucional - Unesp

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