IROS 2015poster73 citations
Friction modeling with temperature effects for industrial robot manipulators
Luca Simoni, Manuel Beschi, Giovanni Legnani, Antonio Visioli
Abstract
In this paper we present a new friction model for industrial robot manipulators that takes into account temperature effects. In particular, after having shown that friction might change very significantly during robot operations, two solutions based on a polynomial description of the joint friction are proposed and compared. In both cases the models proposed do not need a measurement of the joint temperature, but just of the environmental temperature, so as to be easily applied in industry. Experimental results demonstrate the effectiveness of the applied methodology.
BibTeX
@inproceedings{iros2015_frictionmodeling,
title = {Friction modeling with temperature effects for industrial robot manipulators},
author = {Luca Simoni and Manuel Beschi and Giovanni Legnani and Antonio Visioli},
booktitle = {IROS 2015},
year = {2015}
}