Friction identification from robotic insertion tasks

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dc.contributor.authorLin, Alecen_US
dc.date.accessioned2024-08-14T21:05:55Z
dc.date.available2024-08-14T21:05:55Z
dc.date.copyright2001en_US
dc.date.issued2001
dc.degree.departmentDepartment of Mechanical Engineering
dc.degree.levelMaster of Applied Science M.A.Sc.en
dc.description.abstractIn 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.
dc.format.extent106 pages
dc.identifier.urihttps://hdl.handle.net/1828/18681
dc.rightsAvailable to the World Wide Weben_US
dc.titleFriction identification from robotic insertion tasksen_US
dc.typeThesisen_US

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