@inbook{1b966576f04f469ab4f079f747f3dba4,
title = "The Impact of Friction on the Dynamics of Parallel Robotic Manipulators",
abstract = "In this paper an overview on joint-friction for parallel kinematic manipulators (PKM) is proposed. An efficient modeling approach is given, where dissipation in all passive and active joints are uniformly formulated and transformed in the actuation space in parameter-linear form. Furthermore, it is shown, how friction characteristics can be identified independently from any other dynamic influences. Two sections are considered to the practical issues of friction in terms of feedforward and time-optimal control.",
keywords = "Feedforward Control, Friction Characteristic, Multibody System, Parallel Robot, Passive Joint",
author = "H. Abdellatif and Bodo Heimann and Martin Grotjahn",
year = "2006",
doi = "10.1007/3-211-38927-X\_11",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing AG",
pages = "73--80",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
address = "Switzerland",
}