New dry friction model with load- and velocity-dependence and dynamic identification of multi-DOF robots

Hamon, Pol; Gautier, Maxime; Garrec, Philippe

doi:10.1109/icra.2011.5980126

Cited by 29 publications

(21 citation statements)

References 26 publications

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“…46 Load effects were once again introduced in an additive way in the speed-independent and Stribeck terms…”

Section: Gearboxes and Integrated Reducersmentioning

confidence: 99%

Friction modelling and simulation at system level: Considerations to load and temperature effects

Maré

2014

Proceedings of the Institution of Mechanical Engineers, Part I:

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The influence of load and temperature on friction is addressed in a practical way to provide a step forward in simulation-based design through the development and the numerical implementation of realistic system-level models of frictional losses. Hydraulically and electrically supplied actuators are considered at both individual component level (e.g. gear pairs, nut-screws or bearings) and integrated equipment level (e.g. reducers or even complete actuators). The need for more realistic modelling of friction for embedded and more electrical systems is highlighted, and the influence of load and temperature is illustrated from measurements. The state of the art is reviewed considering knowledge models with special focus on physical effects and data commonly supplied by components' manufacturers. Then, special attention is paid to global representation models developed as a parameterized combination of generic friction effects, and a generic framework for introducing load and temperature effects in system-level friction models is proposed. Candidate options for model structure, parameterization, numerical implementation and inverse simulation are discussed. The last part of this article supports the development of friction models from mechanical efficiency data, the parameter most widely handled by designers and suppliers, with special attention to aiding or opposite load and to sticking. Throughout this article, measured friction forces are extensively reported and compared with the proposed models.

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“…46 Load effects were once again introduced in an additive way in the speed-independent and Stribeck terms…”

Section: Gearboxes and Integrated Reducersmentioning

confidence: 99%

Friction modelling and simulation at system level: Considerations to load and temperature effects

Maré

2014

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…12. To exploit the advantage of approach (B) which needs only the motions with devices, practical identification considering Stribeck effect as shown in the applications for industrial manipulators [27,28] will be addressed in our future work. …”

Section: Identification Of Sslmentioning

confidence: 99%

New evaluation framework for human-assistive devices based on humanoid robotics

et al. 2016

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This paper presents the new application of a humanoid robot as an evaluator of human assistive devices. The reliable and objective evaluation framework for assistive devices is necessary for making industrial standards in order that those devices are used in various applications. In this framework, we utilize a recent humanoid robot with its high similarity to humans, human motion retargeting techniques to a humanoid robot, and identification techniques of robot's mechanical properties. We also show two approaches to estimate supporting torques from the sensor data, which can be used properly according to the situations. With the general formulation of the wire-driven multi-body system, the supporting torque of passive assistive devices is also formulated. We evaluate a passive assistive wear "Smart Suit Lite (SSL)" as an example of device, and use HRP-4 as the humanoid platform.

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“…Using the Modified Denavit-Hartenberg (MDH) description of moving multibody systems [10], the dynamic model of any serial manipulator composed of n links can be linearly written in term of a   Fs are the viscous and Coulomb friction coefficients of the part of the drive chain between the torque sensor and the output of the drive chain (the link), respectively, and j off  is an offset parameter that takes into account the offset of the torque sensor of the joint j and the asymmetry in Coulomb friction coefficient [12].…”

Section: A Inverse Dynamic Identification Model (Idim)mentioning

confidence: 99%

In situ calibration of joint torque sensors of the KUKA LightWeight robot using only internal controller data

Briot¹,

Gautier

Jubien³

2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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International audienceThe Kuka LWR is equipped with torque sensors mounted on the link side of the actuated joints. Each torque sensor is calibrated separately before it is mounted on the robot. This needs a second calibration at the last stage of the assembling of the robot in order to take into account the effect of the robot structure. This final in situ calibration is necessary to improve the accuracy of the estimation of the interaction wrench of the robot end-effector with its environment. However, the proposed calibration techniques are usually complicated, time-consuming, and must be carried out before assembling the sensors on the robot. In this paper, a simple and fast method for calibrating the sensors once they are assembled on the robot is presented. The method is based on the least squares solution of an over-determined linear system obtained with the robot inverse dynamic identification model in which are included the sensor gains. This model is calculated with sensor measurement and joint position sampled data available in the controller while the robot is tracking some reference trajectories without load on the robot and some trajectories with a known payload fixed on the robot. The method is experimentally validated on the Kuka LWR4+ but can be applied to any similar kind of robot equipped with joint torque sensors

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New dry friction model with load- and velocity-dependence and dynamic identification of multi-DOF robots

Cited by 29 publications

References 26 publications

Friction modelling and simulation at system level: Considerations to load and temperature effects

Friction modelling and simulation at system level: Considerations to load and temperature effects

New evaluation framework for human-assistive devices based on humanoid robotics

In situ calibration of joint torque sensors of the KUKA LightWeight robot using only internal controller data

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