Transmission friction in an electric mining shovel

Austin, Kevin J. and McAree, P. Ross (2007) Transmission friction in an electric mining shovel. Journal of Field Robotics, 24 10: 863-875. doi:10.1002/rob.20223

Author Austin, Kevin J.
McAree, P. Ross
Title Transmission friction in an electric mining shovel
Journal name Journal of Field Robotics   Check publisher's open access policy
ISSN 1556-4959
Publication date 2007-01-01
Year available 2007
Sub-type Article (original research)
DOI 10.1002/rob.20223
Open Access Status Not yet assessed
Volume 24
Issue 10
Start page 863
End page 875
Total pages 13
Editor G. Beni
S. Hackwood
Place of publication Hoboken
Publisher John Wiley & Sons, Inc.
Language eng
Subject 290501 Mechanical Engineering
780102 Physical sciences
Abstract Friction is a phenomenon present in all mechanical systems and is undesirable in estimation and control tasks. This paper explores the characteristics of friction in the transmission of an electric mining shovel, with a view to compensating for them. Experiments suggest that the transmission friction can be described by a Coulomb friction model with associated uncertainty on the friction force. The Kalman Inverse Filter is evaluated as a method for adaptively estimating the friction for motion of the bucket through free-space. The friction estimates are consistent with experimental results. (C) 2007 Wiley Periodicals, Inc.
Keyword Robotics
Q-Index Code C1
Q-Index Status Confirmed Code

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Created: Wed, 16 Apr 2008, 02:03:18 EST by Gail Smith on behalf of School of Mechanical and Mining Engineering