In this paper we present a new friction model for industrial robot manipulators that takes into account temperature effects. In particular, after having shown that friction might change very significantly during robot operations, two solutions based on a polynomial description of the joint friction are proposed and compared. In both cases the models proposed do not need a measurement of the joint temperature, but just of the environmental temperature, so as to be easily applied in industry. Experimental results demonstrate the effectiveness of the applied methodology.

Friction modeling with temperature effects for industrial robot manipulators

SIMONI, LUCA;BESCHI, Manuel;LEGNANI, Giovanni;VISIOLI, Antonio
2015-01-01

Abstract

In this paper we present a new friction model for industrial robot manipulators that takes into account temperature effects. In particular, after having shown that friction might change very significantly during robot operations, two solutions based on a polynomial description of the joint friction are proposed and compared. In both cases the models proposed do not need a measurement of the joint temperature, but just of the environmental temperature, so as to be easily applied in industry. Experimental results demonstrate the effectiveness of the applied methodology.
2015
9781479999941
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11379/480122
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