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|Title:||Relay-assisted friction modeling technique|
|Authors:||Tan, K.K. |
|Citation:||Tan, K.K.,Lee, T.H.,Xie, Y.,Tang, K.Z. (2002). Relay-assisted friction modeling technique. Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002 14 : 89-94. ScholarBank@NUS Repository.|
|Abstract:||In this paper, the application of a dual relay feedback approach towards modeling of frictional effects in servo-mechanisms is addressed. The friction model consists of Coulomb and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments. At the same time, the dynamical model of the servo-mechanical system can be obtained from the experiments. With the models, a PID feedback motion controller and a feedforward friction compensator can be automatically tuned.|
|Source Title:||Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002|
|Appears in Collections:||Staff Publications|
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