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industrial manipulators

Robotica (1)

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Modelling the temperature in joint friction of industrial manipulators
Luca Simoni, Manuel Beschi, Giovanni Legnani, Antonio Visioli
Journal:

Robotica / Volume 37 / Issue 5 / May 2019

Published online by Cambridge University Press:

10 November 2017, pp. 906-927
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In this paper, a new model for joint dynamic friction of industrial robot manipulators is presented. In particular, the effects of the temperature in the joints are considered. A polynomial-based model is proposed and the parameter estimation is performed without the need of a joint temperature sensor. The use of an observer is then proposed to compensate for the uncertainty in the initial estimation of the temperature value. A large experimental campaign show that the model, in spite of the simplifying assumptions made, is effective in estimating the joint temperature and therefore the friction torque during the robot operations, even for values of velocities that have not been previously employed.