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- W290950679 abstract "This paper points out that there is another singular point with Coulomb friction when an end effecter of a robot manipulator contacts a surface of an object. The characteristics of Coulomb friction singular points are revealed by both of theoretical and numerical approaches. From the results, it is shown that contact forces dramatically increase as the robot closes Coulomb friction singular points. In this paper we also propose a new control method to overcome problems of Coulomb friction singular points. The effectiveness of the proposed method is demonstrated by some simulation results." @default.
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- W290950679 date "2008-01-01" @default.
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- W290950679 title "1A1-A17 Coulomb Friction Singular Points of Robot Motions with Mechanical Constraints and Feedback Control" @default.
- W290950679 doi "https://doi.org/10.1299/jsmermd.2008._1a1-a17_1" @default.
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