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. The model proposed do not need a measurement of the joint temperature, but just of the environmental temperature. This model is integrated with a robot dynamic model to estimate external forces.
Robot external force estimator using on thermal-based joint friction estimation
Manuel Beschi;Enrico Villagrossi;Alberto Marini
2015
Abstract
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. The model proposed do not need a measurement of the joint temperature, but just of the environmental temperature. This model is integrated with a robot dynamic model to estimate external forces.File in questo prodotto:
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