Static Friction in a Robot Joint: Modeling and Identificaiton of Load and Temperature Effects
2011 (English)Report (Other academic)
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  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.
LiTH-ISY-R, ISSN 1400-3902 ; 3038
Robotics, Friction, Identification
IdentifiersURN: urn:nbn:se:liu:diva-97979ISRN: LiTH-ISY-R-3038OAI: oai:DiVA.org:liu-97979DiVA: diva2:650876