Friction identification from robotic insertion tasks
Date
2001
Authors
Lin, Alec
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Abstract
In this thesis, the characteristics of friction and the friction models developed to capture them are presented. An optimization-based friction parameter identification method is proposed, after investigation of friction models and non-linear identification techniques. The identification method is verified through numerical simulation and used to identify friction parameters from experimental data. This synthesized method can also be used to identify parameters for other non-linear models. The friction parameter identification scheme will provide the users of robot simulators, such as the Manipulator Development Simulation Facility (MDSF) an effective approach to obtain contact dynamic parameters from experimental data. The contact parameters and in particular the friction parameters are necessary for simulation, design and mission planning of space manipulator systems.