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An Extended Friction Model to Capture Load and Temperature Effects in Robot Joints
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
ABB, Sweden. (Corporate Research)
ABB, Sweden. (Robotics)
2010 (English)Report (Other academic)
Abstract [en]

Friction is the result of complex interactions between contacting surfaces in a nanoscale perspective. Depending on the application, the different models available are more or less suitable. Available static friction models are typically considered to be dependent only on relative speed of interacting surfaces. However, it is known that friction can be affected by other factors than speed. In this paper, static friction in robot joints is studied with respect to changes in joint angle, load torque and temperature. The effects of these variables are analyzed by means of experiments on a standard industrial robot. Justified by their significance, load torque and temperature are included in an extended static friction model. The proposed model is validated in a wide operating range, reducing the average error a factor of 6 when compared to a standard static friction model.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2010. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2948
Keyword [en]
Friction, Modeling, Identification, Industrial robots
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97593ISRN: LiTH-ISY-R-2948OAI: oai:DiVA.org:liu-97593DiVA: diva2:649223
Available from: 2013-09-17 Created: 2013-09-17 Last updated: 2014-06-17Bibliographically approved

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Carvalho Bittencourt, AndréWernholt, Erik

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf