Jove
Visualize
Contact Us

Related Concept Videos

Statically Indeterminate Problem Solving01:16

Statically Indeterminate Problem Solving

469
Statically indeterminate problems are those where statics alone can not determine the internal forces or reactions. Consider a structure comprising two cylindrical rods made of steel and brass. These rods are joined at point B and restrained by rigid supports at points A and C. Now, the reactions at points A and C and the deflection at point B are to be determined. This rod structure is classified as statically indeterminate as the structure has more supports than are necessary for maintaining...
469
Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

12.6K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
12.6K
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

539
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
539
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

710
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
710
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

436
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
436
Kinematic Equations - II01:17

Kinematic Equations - II

9.8K
The second kinematic equation expresses the final position of an object in terms of its initial position, the distance traveled with the initial constant velocity, and the distance traveled due to a change in velocity. Similar to the first kinematic equation, this equation is also only valid when the acceleration is constant throughout the motion of an object.
Suppose a car merges into freeway traffic on a 200 m long ramp. If its initial velocity is 10 m/s and it accelerates at 2 m/s2, then the...
9.8K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

An Open-Source 3D Printed Three-Fingered Robotic Gripper for Adaptable and Effective Grasping.

Biomimetics (Basel, Switzerland)·2025
Same author

Task-Motion Planning System for Socially Viable Service Robots Based on Object Manipulation.

Biomimetics (Basel, Switzerland)·2024
Same author

Development of a Wheel-Type In-Pipe Robot Using Continuously Variable Transmission Mechanisms for Pipeline Inspection.

Biomimetics (Basel, Switzerland)·2024
Same author

A Non-Array Type Cut to Shape Soft Slip Detection Sensor Applicable to Arbitrary Surface.

Sensors (Basel, Switzerland)·2020
Same author

Electron tunneling of hierarchically structured silver nanosatellite particles for highly conductive healable nanocomposites.

Nature communications·2020
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Experiment Video

Updated: Aug 16, 2025

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.5K

A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator.

Meseret Tadese1, Nabih Pico1,2, Sungwon Seo1

  • 1Department of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Gyeonggi-do, Republic of Korea.

Sensors (Basel, Switzerland)
|December 23, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a novel dynamic friction model for collaborative robots, accounting for temperature effects to enhance model accuracy. The improved model significantly boosts performance in torque tracking, achieving up to 70.37% improvement.

Keywords:
dynamic parameters identificationfriction identificationfriction modelrobot dynamics

More Related Videos

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.7K
Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.2K

Related Experiment Videos

Last Updated: Aug 16, 2025

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.5K
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.7K
Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.2K

Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Accurate dynamic models are crucial for collaborative robot performance in control and simulation.
  • Robot joint friction is a primary nonlinear element significantly impacting model accuracy.
  • Temperature fluctuations affect robot joint friction, necessitating a temperature-aware model.

Purpose of the Study:

  • To develop and validate a reliable dynamic friction model that incorporates temperature effects for collaborative robots.
  • To improve the accuracy of identified dynamic parameters by compensating for temperature-dependent friction.
  • To enhance the performance of model-based control and dynamic simulations.

Main Methods:

  • Investigated robot joint friction across a wide velocity range and temperatures (19°C to 51°C).
  • Employed an inverse dynamics identification model with weighted least squares regression for parameter identification.
  • Validated the proposed method experimentally on the Indy7 collaborative robot manipulator.

Main Results:

  • The identified friction model accurately captures the influence of temperature on robot joint friction.
  • Dynamic parameters identified using the proposed method led to a significant improvement in torque tracking accuracy.
  • A relative improvement of up to 70.37% in tracking measured torque was achieved compared to conventional methods.

Conclusions:

  • The proposed temperature-dependent dynamic friction model enhances the accuracy of identified dynamic parameters for collaborative robots.
  • This improved model leads to superior performance in applications requiring accurate torque tracking.
  • The method offers a practical approach to improving the reliability and performance of collaborative robot systems.