A fractional order viscous friction model in robotic joints
Abstract
The fractional calculus and the calculus of variations are utilized to model and control
complex dynamical systems. Those systems are presented more accurately by means of fractional
models. In this paper, dynamic model of robot manipulator is introduced using the Rodriquez
approach. Then, a viscous friction term is extended to be proportional to the fractional derivative
of the angular displacement. This model is introduced into dynamic equations via generalized
forces which are derived by using the principle of virtual work. Numerical example for the
robotic system with three degrees of freedom is presented. The results obtained for generalized
forces are compared for different values of parameters in the fractional order derivative model
Keywords:
fractional calculus / rigid multibody dynamics / viscous friction modelSource:
Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d, 2019Publisher:
- Beograd : Srpsko društvo za mehaniku
Funding / projects:
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Intelligent Control Systems of the Air-conditioning for the Purpose of Achieving Energy Efficient Exploitation Regimes in the Complex Operating Conditions (RS-MESTD-Technological Development (TD or TR)-33047)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Mandić, Petar AU - Lazarević, Mihailo PY - 2019 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4104 AB - The fractional calculus and the calculus of variations are utilized to model and control complex dynamical systems. Those systems are presented more accurately by means of fractional models. In this paper, dynamic model of robot manipulator is introduced using the Rodriquez approach. Then, a viscous friction term is extended to be proportional to the fractional derivative of the angular displacement. This model is introduced into dynamic equations via generalized forces which are derived by using the principle of virtual work. Numerical example for the robotic system with three degrees of freedom is presented. The results obtained for generalized forces are compared for different values of parameters in the fractional order derivative model PB - Beograd : Srpsko društvo za mehaniku C3 - Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d T1 - A fractional order viscous friction model in robotic joints UR - https://hdl.handle.net/21.15107/rcub_machinery_4104 ER -
@conference{ author = "Mandić, Petar and Lazarević, Mihailo", year = "2019", abstract = "The fractional calculus and the calculus of variations are utilized to model and control complex dynamical systems. Those systems are presented more accurately by means of fractional models. In this paper, dynamic model of robot manipulator is introduced using the Rodriquez approach. Then, a viscous friction term is extended to be proportional to the fractional derivative of the angular displacement. This model is introduced into dynamic equations via generalized forces which are derived by using the principle of virtual work. Numerical example for the robotic system with three degrees of freedom is presented. The results obtained for generalized forces are compared for different values of parameters in the fractional order derivative model", publisher = "Beograd : Srpsko društvo za mehaniku", journal = "Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d", title = "A fractional order viscous friction model in robotic joints", url = "https://hdl.handle.net/21.15107/rcub_machinery_4104" }
Mandić, P.,& Lazarević, M.. (2019). A fractional order viscous friction model in robotic joints. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d Beograd : Srpsko društvo za mehaniku.. https://hdl.handle.net/21.15107/rcub_machinery_4104
Mandić P, Lazarević M. A fractional order viscous friction model in robotic joints. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d. 2019;. https://hdl.handle.net/21.15107/rcub_machinery_4104 .
Mandić, Petar, Lazarević, Mihailo, "A fractional order viscous friction model in robotic joints" in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d (2019), https://hdl.handle.net/21.15107/rcub_machinery_4104 .