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Experimental Identification of Lu-Gre Friction Model in an Hydraulic Actuator

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Advances in Automation and Robotics Research in Latin America

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 13))

Abstract

In this work is presented the experimental identification of friction effects defined by the parameters of the LuGre model. The parameters are found by means of two experiments. The first one is performed with motions at constant velocity and the second one is performed under controlled force. These experiments allow to find separately the set of parameters that govern the steady state and the pre-sliding regime, respectively.

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Acknowledgements

The authors would like to thank the financial support of Spanish Government CICYT Project Ref. DPI2014-57220-C2-1-P, DPI2013-49527-EXP Universidad Politcnica de Madrid Project Ref. AL14-PID-15 and also to Comunidad de Madrid who supports the project ROBOCITY2030-III P2013/MIT-2748.

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Authors and Affiliations

  1. Centro de Automática y Robótica (UPM-CSIC), Jose Gutierrez de Abascal 2, 28006, Madrid, Spain

    Lisandro J. Puglisi, Roque J. Saltaren & Cecilia E. Garcia Cena

Authors
  1. Lisandro J. Puglisi
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  2. Roque J. Saltaren
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  3. Cecilia E. Garcia Cena
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Corresponding author

Correspondence to Lisandro J. Puglisi .

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Editors and Affiliations

  1. Facultad de Ingeniería Eléctrica (FIE), Universidad Tecnológica de Panamá , Panamá, Panama

    Ignacio Chang

  2. Computer Science Department, College of Information Science & Technology, University of Nebraska at Omaha, Omaha, Nebraska, USA

    José Baca

  3. Guadalupe C.P., Av. Barranquilla S/N, Col. Guadalupe C.P., Monclova, Coahuila, Mexico

    Héctor A. Moreno

  4. Guadalupe C.P., Av. Barranquilla S/N, Col. Guadalupe C.P., Monclova, Coahuila, Mexico

    Isela G. Carrera

  5. El Salvador, El Salvador

    Manuel N. Cardona

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Puglisi, L.J., Saltaren, R.J., Garcia Cena, C.E. (2017). Experimental Identification of Lu-Gre Friction Model in an Hydraulic Actuator. In: Chang, I., Baca, J., Moreno, H., Carrera, I., Cardona, M. (eds) Advances in Automation and Robotics Research in Latin America. Lecture Notes in Networks and Systems, vol 13. Springer, Cham. https://doi.org/10.1007/978-3-319-54377-2_12

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  • DOI: https://doi.org/10.1007/978-3-319-54377-2_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54376-5

  • Online ISBN: 978-3-319-54377-2

  • eBook Packages: EngineeringEngineering (R0)

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