An Extended Friction Model to capture Load and Temperature effects in Robot Joints, Report no. LiTH-ISY-R-2948
نویسندگان
چکیده
Friction is the result of complex interactions between contacting surfaces in a nanoscale perspective. Depending on the application, the di erent 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 a ected by other factors than speed. In this work, static friction in robot joints is studied with respect to changes in joint angle, load torque and temperature. The e ects of these variables are analyzed by means of experiments on a standard industrial robot. Justi ed by their signi cance, 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.
منابع مشابه
Static Friction in a Robot Joint – Modeling and Identification of Load and Temperature Effects, Report no. LiTH-ISY-R-3038
Friction is the result of complex interactions between contacting surfaces in a nanoscale perspective. Depending on the application, the di erent models available are more or less suitable. Static friction models are typically considered to be dependent only on relative speed of interacting surfaces. However, it is known that friction can be a ected by other factors than speed. In this paper, t...
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