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Title: Multi-source micro-friction identification for a class of cable-driven robots with passive backbone
Authors: Tjahjowidodo, Tegoeh
Zhu, Ke
Dailey, Wayne
Burdet, Etienne
Campolo, Domenico
Keywords: Transparent haptic interface
Cable-driven robot with passive backbone
Issue Date: 2016
Source: Tjahjowidodo, T., Zhu, K., Dailey, W., Burdet, E., & Campolo, D. (2016). Multi-source micro-friction identification for a class of cable-driven robots with passive backbone. Mechanical Systems and Signal Processing, 80, 152-165.
Series/Report no.: Mechanical Systems and Signal Processing
Abstract: This paper analyses the dynamics of cable-driven robots with a passive backbone and develops techniques for their dynamic identification, which are tested on the H-Man, a planar cabled differential transmission robot for haptic interaction. The mechanism is optimized for human–robot interaction by accounting for the cost-benefit-ratio of the system, specifically by eliminating the necessity of an external force sensor to reduce the overall cost. As a consequence, this requires an effective dynamic model for accurate force feedback applications which include friction behavior in the system. We first consider the significance of friction in both the actuator and backbone spaces. Subsequently, we study the required complexity of the stiction model for the application. Different models representing different levels of complexity are investigated, ranging from the conventional approach of Coulomb to an advanced model which includes hysteresis. The results demonstrate each model's ability to capture the dynamic behavior of the system. In general, it is concluded that there is a trade-off between model accuracy and the model cost.
ISSN: 0888-3270
DOI: 10.1016/j.ymssp.2016.04.032
Schools: School of Mechanical and Aerospace Engineering 
Rights: © 2016 Elsevier Ltd. This is the author created version of a work that has been peer reviewed and accepted for publication by Mechanical Systems and Signal Processing, Elsevier. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [].
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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