Identification of Friction Coefficient for Constrained Robotic Tasks

[+] Author and Article Information
I. Sharf

Department of Mechanical Engineering, McGill University, Montreal, PQ, Canadae-mail: inna.sharf@mcgill.ca

G. Gilardi, C. Crawford

Space and Subsea Robotics Laboratory, Department of Mechanical Engineering, University of Victoria, Victoria, BC, Canada

J. Dyn. Sys., Meas., Control 124(4), 529-538 (Dec 16, 2002) (10 pages) doi:10.1115/1.1514667 History: Received March 01, 2001; Revised March 01, 2002; Online December 16, 2002
Copyright © 2002 by ASME
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End-effector and fixture used for peg insertion experiments
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One-point contact geometries
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Measured peg wrench components
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a) Estimated μ and b) predicted error
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Schematic of the force ratio profile for peg-hole geometry
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Possible geometries for one-point contact
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(a) Force ratio and (b) phase angle for peg insertion experiment
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Flow chart for the identification procedure
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Tolerance band for the determination of sub-regions
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IEA battery geometry definition
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Initial configuration of the IEA battery and fixture
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Position, orientation, number of contact points and total contact force for the IEA battery drop test
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IEA battery drop test: a) force ratio for normal vector [0,−1,0] and b) zoom on a subinterval



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