This paper addresses the motion control in joint space of robot manipulators with friction described by the generalized LuGre friction model. The paper extends the nonadaptive version of the Slotine and Li’s control system originally designed for friction-free manipulators to the case where a friction observer is incorporated to deal with friction. This observer corresponds to an adaptation of ...

The sensitivity minimization of feedback system is solved based on the theory of NevanlinnaPick interpolation with degree constraint without using weighting functions. More details of the dynamic characteristic of second-order system investigated, which is determined by the location of spectral zeroes, the upper bound γ of S, the length of the spectral radius and the additional interpolation co...

A new method of minimum-energy point-to-point (PTP) trajectory planning is proposed for an LCD glass-handing robot, which is driven by a permanent magnet synchronous motor (PMSM). The variable structure controller (VSC) is designed to track the trajectories and compensate LuGre model of frictional torque effects. The robot system is described by a mechanical equation and an electrical equation....

This paper addresses the motion control in joint space of robot manipulators with friction described by the generalized LuGre friction model. The paper extends the nonadaptive version of the Slotine and Li’s control system originally designed for friction–free manipulators to the case where a friction observer is incorporated to deal with friction. This observer corresponds to an adaptation of ...

This work details research on the formation mechanism of wheel polygonalization in high-speed trains and its effect factors by numerical modeling order to prevent increasingly prevalent problem polygonal wear. The lateral self-excited vibration model a was developed using LuGre friction theory. properties crucial condition Hopf bifurcation were investigated; process wear simulated results valid...

Abstract The responses of a simple harmonically excited dry friction oscillator are analysed in the case when coefficients static and kinetic different. One- two-parameter bifurcation curves determined at suitable parameters by continuation method largest Lyapunov exponents obtained solutions estimated. It is shown that chaotic can occur broad parameter domains—even realistic parameters—that ti...

Abstract The paper focuses on local phenomena modelling in the ball-and-socket pivot of tilting pad journal bearings. It provides an in-depth analysis influence nonlinear normal force and friction forces generated dynamic behaviour bearing. Contemporary works often employ Hertz theory, which is valid for non-conformal contacts. This research, however, utilises a conformal sphere-to-sphere conta...

Abstract Dynamic simulation of mechanical systems can be performed using a multibody system dynamics approach. The approach allows to account other physical nature, such as hydraulic actuators. In systems, the nonlinearity and numerical stiffness introduced by friction model cylinders an important aspect consider in modeling because it lead poor computational efficiency. This paper couples vari...

Road-rail vehicles built on traditional vehicle chassis can only switch operation modes at particular areas such as level crossings, thus limiting the working scope and efficiency of routine railway inspection maintenance. This paper proposes a novel tracked for road-rail with multi-cylinder hydropneumatic suspension system, which better adapt to rough terrains enhance ride performance. Based t...

A compound scheme, based on an improved active disturbance rejection controller (ADRC) and nonlinear compensation, is developed for the electromechanical actuator (EMA) system in this paper. First, considering influences of backlash, friction EMA system, a model presented. The LuGre Hysteresis inverse are used to compensate backlash phenomenon. Then, method ADRC, Fal function filter Linear exte...