The detrimental effect of friction on space microgravity roboticsThe authors present an analysis of why control systems are ineffective in compensating for acceleration disturbances due to Coulomb friction. Linear arguments indicate that the effects of Coulomb friction on a body are most difficult to reject when the control actuator is separated from the body of compliance. The linear arguments were illustrated in a nonlinear simulation of optimal linear tracking control in the presence of nonlinear friction. The results of endpoint acceleration measurements for four robot designs are presented and are compared with simulation and to equivalent measurements on a human. It is concluded that Coulomb friction in common bearings and transmission induces unacceptable levels of endpoint acceleration, that these accelerations cannot be adequately attenuated by control, and that robots for microgravity work will require special design considerations for inherently low friction.
Document ID
19930051549
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Newman, Wyatt S. (NASA Lewis Research Center Cleveland, OH, United States)
Glosser, Gregory D. (Case Western Reserve Univ. Cleveland, OH, United States)
Miller, Jeffrey H. (NASA Lewis Research Center Cleveland, OH, United States)
Rohn, Douglas (NASA Lewis Research Center Cleveland, OH, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: 1992 IEEE International Conference on Robotics and Automation, 8th, Nice, France, May 12-14, 1992, Proceedings. Vol. 2 (A93-35501 13-63)