In this paper, an online identification method which can simultaneously identify three mechanical parameters (the moment of inertia of the system, the viscous friction
coefficient of the motor, and the load torque) and a distinctive autotuning speed control scheme are proposed, which adjusts the speed loop parameters using the identified parameters.
We present the experimentally determined performance characteristics of the MAHI EXO-II and RiceWrist-S in Table 2, including static friction, inertia, viscous friction
, and closed-loop position bandwidth.
280 g, piston-rod ensemble mass m = 1 kg, viscous friction
coefficient between the piston and cylinder f = 5 Ns/m.
This directional information allows the robot to provide feed-forward static friction compensation in addition to gravity and viscous friction
As far as the effective low area is concerned, this is a consequence of the greater viscous friction
in the radial flow, which is observed when the clearance becomes narrower, reducing the mass flow rate.
f] on the piston can be represented by a mixed friction model comprising Coulomb and viscous frictions
The values of these dynamic influences are proportional to the viscous friction
coefficients of each UM link at the arbitrary spatial movements of a manipulator in water.
m] Moment of inertia of the engine J Viscous friction
B Motor constants Value Rated Voltage 12 V Stream idle 0.
also creates a force to resist motion, but the effect is proportional to speed.
d] = b) damping torque given by the loss of magnetic field and viscous friction
in the motor's bearings, [M.
2i] are stiffness, damping, and viscous friction
However, in practice it must be corrected by a certain value due to the viscous friction
of the agent inside the motor during the flow, as it results from the formulas 1.
7 gives friction forces exerted on the piston including the force of viscous friction
between the piston and the cylinder [F.
Its characteristics are: moment of inertia J=0,99x10-6[kg x m2], global viscous friction
coefficient B=4,57x10-6 [Nms/rad].
The static model reflects the relationship between friction force and the relative movement speed consisting of several distinct parts including static friction, Coulomb friction, viscous friction
, and the Stribeck curve effect.