Real-time simulation of friction in a flexible space manipulator

被引：2
|
作者：
Breedveld, P
Diepenbroek, AY
vanLunteren, T
机构：
来源：
8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97 | 1997年
关键词：
space manipulator; real-time simulation; modelling; friction models;
D O I：
10.1109/ICAR.1997.620303
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes the development of a real-time simulation model of the European Robot Arm ERA that will be used on the Russian Segment of the International Space Station. The simulation model contains a friction model that is not based on the conventional hypothesis that friction is opposite to velocity, but on the new hypothesis that friction tries to stop the system. The conventional hypothesis leads to a strongly non-linear friction model that causes numerical instability. The new hypothesis leads to a new friction model that simulates the effects of the friction accurately in only little computing time.
引用
收藏
页码：999 / 1006
页数：8
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