In this paper we propose the use of a dynamic model in which the effects of temperature on friction are considered to develop a virtual force sensor for industrial robot manipulators. The estimation of the inertial parameters and of the friction model are explained. The effectiveness of the virtual force sensor has been proven in a polishing task. In fact, the interaction forces between the robot and the environment has been measured both with the virtual force sensor and a common load cell. Moreover, the advantages provided by considering the temperature dependency are highlighted.

On the use of a temperature based friction model for a virtual force sensor in industrial robot manipulators

Simoni, Luca;Villagrossi, Enrico;Beschi, Manuel;Marini, Alberto;Legnani, Giovanni;Visioli, Antonio
2017-01-01

Abstract

In this paper we propose the use of a dynamic model in which the effects of temperature on friction are considered to develop a virtual force sensor for industrial robot manipulators. The estimation of the inertial parameters and of the friction model are explained. The effectiveness of the virtual force sensor has been proven in a polishing task. In fact, the interaction forces between the robot and the environment has been measured both with the virtual force sensor and a common load cell. Moreover, the advantages provided by considering the temperature dependency are highlighted.
2017
978-1-5090-6505-9
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11379/501939
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