General guidelines for analyzing friction at the joints are discussed. It is shown that friction can be related to the joint coordinates and their first and second time derivatives. The resulting extended robot dynamics formulation is investigated as it applies to the inverse and forward robot dynamics problems. The analytical dependency of Coulomb friction on joint interactions is explicity examined. As an illustration of friction effects in transmissions, the friction in harmonic drives is considered and a method is developed for its evaluation. The quantitative characterization of several specific cases is provided. This study is significant for the design and control achieving of high-speed precision robot motion.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||7|
|State||Published - Jan 1 1988|