liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Modeling and Experiment Design for Identification of Wear in a Robot Joint under Load and Temperature Uncertainties based on Constant-speed Friction Data
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2013 (English)Report (Other academic)
Abstract [en]

The effects of wear to friction are studied based on constant-speed friction data collected from dedicated experiments during accelerated wear tests. It is shown how the effects of temperature and load uncertainties produce larger changes to friction than those caused by wear, motivating the consideration of these effects. Based on empirical observations, an extended friction model is proposed to describe the effects of speed, load, temperature and wear. Assuming availability of such model and constant-speed friction data, a maximum likelihood wear estimator is proposed.  A criterion for experiment design is proposed which selects speed points to collect constant-speed friction data which improves the achievable performance bound for any unbiased wear estimator. Practical issues related to experiment length are also considered. The performance of the wear estimator under load and temperature uncertainties is found by means of simulations and verified under three case studies based on real data.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2013. , 12 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3058
National Category
Robotics
Identifiers
URN: urn:nbn:se:liu:diva-90023ISRN: LiTH-ISY-R-3058OAI: oai:DiVA.org:liu-90023DiVA: diva2:611255
Funder
Vinnova
Available from: 2013-03-15 Created: 2013-03-15 Last updated: 2014-06-16Bibliographically approved

Open Access in DiVA

Modeling and Experiment Design for Identification of Wear in a Robot Joint under Load and Temperature Uncertainties based on Constant-speed Friction Data(914 kB)368 downloads
File information
File name FULLTEXT02.pdfFile size 914 kBChecksum SHA-512
747e2bc512502ae67613f3974726f2a7a0ebde309e80d3220cb261d2b8ed9db7cd034a6ee661961e2a7a5a78d47afe4dfc2d1c82177b22031503108e5794d293
Type fulltextMimetype application/pdf

Authority records BETA

Carvalho Bittencourt, AndréAxelsson, Patrik

Search in DiVA

By author/editor
Carvalho Bittencourt, AndréAxelsson, Patrik
By organisation
Automatic ControlThe Institute of Technology
Robotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 368 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 281 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf