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In this paper, a new comprehensive dynamic friction model for a collaborative industrial robot joint that considers the velocity, temperature, and load torque is proposed. The variation of load-dependent friction among the four-quadrant operation depending on the sign of load-torque and speed is studied. The new model's passivity property is analyzed to obtain a physically meaningful and experimentally identified friction model. A sufficient condition is presented in terms of a simple algebraic inequality involving the parameters of the model. The model parameter identification procedure and validation of model effectiveness are demonstrated experimentally on a commercial collaborative robot manipulator. Moreover, the proposed friction model's benefits are demonstrated in two different robot applications: friction compensation and direct teaching (smooth lead-through programming) applications. Significant tracking performance improvement in the root-mean-square errors up to 76% was achieved with the proposed friction model compared to the uncompensated cases in the friction compensation application. In the direct teaching application, the new model, which precisely estimates joint friction, results in a significant decrease in interaction forces up to 66%. These experimental results validate the performance of the proposed friction model.

This article introduces the development and implementation of the Yummy Operations Robot Initiative (YORI), an innovative, autonomous robotic cooking system. YORI marks a major advancement in culinary automation, adept at handling a diverse range of cooking tasks, capable of preparing multiple dishes simultaneously, and offering the flexibility to adapt to an extensive array of culinary activities. This versatility is achieved through the use of custom tools and appliances operated by a dual-arm manipulator utilizing proprioceptive actuators. The use of proprioceptive actuators enables fast yet precise movements, while allowing for accurate force control and effectively mitigating the inevitable impacts encountered in cooking. These factors underscore this technology's boundless potential. A key to YORI's adaptability is its modular kitchen design, which allows for easy adaptations to accommodate an ever-growing range of culinary tasks. This article provides an in-depth look at YORI's design process, its technological innovations, operational capabilities, and highlights its role in revolutionizing the culinary world by enhancing efficiency, consistency, and versatility in food preparation.