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Static Friction in a Robot Joint: Modeling and Identificaiton of Load and Temperature Effects
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.
2011 (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, the typical friction phenomena and models used in robotics are reviewed. It is shown how such models can be represented as a sum of linear and nonlinear functions of relevant states, and how the identification method described in [1] can be used to identify them when all state sare measured. The discussion follows with a detailed experimental study of friction in a robot joint under changes of joint angle, load torque and temperature. 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, considerably improving the prediction performance compared to a standard model.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2011. , 10 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3038
Keyword [en]
Robotics, Friction, Identification
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97979ISRN: LiTH-ISY-R-3038OAI: oai:DiVA.org:liu-97979DiVA: diva2:650876
Projects
LINK-SIC
Funder
Vinnova
Available from: 2013-09-23 Created: 2013-09-23 Last updated: 2014-06-16Bibliographically approved

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Carvalho Bittencourt, AndréGunnarsson, Svante

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • 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