Modelling and identification of flexible-joint robots is required for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations o...

a study on the evaluating equivalent damping and response modification factors of frames equipped by pall friction dampers is presented. to do so, buildings with various stories were considered. nonlinear and linear dynamic time history analysis has been performed to evaluate equivalent damping for pall friction dampers. ground motions with various frequency characteristics scaled with iranian ...

in this paper, seismic behavior of the existing buildings equipped by friction dampers is studied. seismic performance of6-story, 9-story and 12-story steel buildings with damper and without damper were studied. the finite element modeling technique (sap2000 software) is used for analysis. time history analyzing was done to achieve this purpose. for nonlinear dynamic analysis, the responses of ...

An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire-road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design a fast convergence observer to estimate the vehicle velocity and the internal state of the friction model. The unknown parameters of the dynamic friction model are estimate...

Friction measurement is one of important and interesting problems in the study of handle properties of fabrics. Different methods have been developed for measuring friction, such as sliding, KES and cyclic testing method. In this research, considering the possibilities of varying conditions in measuring friction, a new instrument by which the bottom surface of fabric can be moved and the top sl...

In this paper, seismic behavior of the existing buildings equipped by friction dampers is studied. Seismic performance of6-story, 9-story and 12-story steel buildings with damper and without damper were studied. The finite element modeling technique (SAP2000 Software) is used for analysis. Time History analyzing was done to achieve this purpose. For nonlinear dynamic analysis, the responses of ...

A robust adaptive compensation scheme is presented for compensation of asymmetric deadzone, dynamic friction and uncertainty in the direct-drive robot manipulator. Simple estimation laws are derived to build observers for estimation of deadzone and friction based on the LuGre friction model. A model-free RWCMAC controller to mimic the ideal control law is employed to overcome some shortcomings ...

An experimental implementation of an output-feedback controller on a rotor dynamic system with set-valued friction is presented. The system exhibits coexisting stable/unstable equilibria and undesired friction-induced limit cycles. In the system, the friction and actuation are non-collocated, which prevents the application of standard friction compensation techniques. Therefore, an outputfeedba...

An adaptive control scheme for emergency braking of vehicles is designed based on a LuGre dynamic model for the tire/road friction. The wheel angular speed and longitudinal vehicle acceleration information are used to design an observerestimator for vehicle velocity, friction internal state and friction parameters. A Lyapunov-based stabilizing controller is designed to achieve near maximum brak...