On the Inclusion of Temperature in the Friction Model of Industrial Robots

Simoni, Luca; Beschi, Manuel; Legnani, Giovanni; Visioli, Antonio

doi:10.1016/j.ifacol.2017.08.933

Cited by 16 publications

(16 citation statements)

References 14 publications

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“…The integration of the disturbance observer is evaluated with variable velocity and load. The gravitational torque is excluded from (15) and it is assumed to be an unknown external variable load. The link side torque sensor is used to compare the estimated external torqueτ ext with the applied external torque.…”

Section: External Torque Estimationmentioning

confidence: 99%

“…The aforementioned demands are not fully covered in the well known static or dynamic friction models [7]- [11]. Current research addresses the importance and the inclusion of temperature, velocity, and load in static friction models [1], [3], [12]- [15]. Since we have trajectories with many reversals and low velocity portions we aim on a dynamic friction model.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation

Iskandar

Wolf

2019

2019 International Conference on Robotics and Automation (ICRA)

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A physically-motivated friction model with a parametric description of the nonlinear dependency of the temperature and velocity as well as the dependency on external load is presented. The fully parametric approach extends a static friction model in the gross sliding regime. We show how it can be seamlessly integrated in standard dynamic friction models such as Lund Grenoble (LuGre) and Generalized-Maxwell-Slip (GMS). Parameters of a Harmonic Drive CSD 25 gear are experimentally identified and the final model is evaluated on a dedicated test-bed. We show the integration and effectiveness in dynamic simulation, friction compensation, and external torque estimation.

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Section: External Torque Estimationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation

Iskandar

Wolf

2019

2019 International Conference on Robotics and Automation (ICRA)

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“…Simoni et al. 20–22 and Legnani et al. 23 also proposed an extended friction model taking temperature into account based on identification experiments on a 6-DOF industrial manipulator.…”

Section: Introductionmentioning

confidence: 99%

Tribo-dynamic analysis and motion control of a rotating manipulator based on the load and temperature dependent friction model

Yan

Meng

2020

Proceedings of the Institution of Mechanical Engineers, Part J:

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Joint friction has a significant influence on the dynamics and motion control of manipulators. However, the friction effect is often omitted or simplified in previous studies. In this paper, we establish the dynamics model of a single joint in a rotating industrial manipulator taking detailed friction effects into consideration and propose a new control algorithm for the friction compensation purpose. Firstly, the manipulator dynamics modeling is carried out employing a recently-proposed extended static friction model, which depicts load and temperature influence on Coulomb, Stribeck and viscous terms. Moreover, based on the established dynamics model, the paper presents a new adaptive fast nonsingular terminal sliding mode (AFNTSM) controller. The proposed approach has the advantages of continuous control inputs, fast convergence rate, no singularity and great robustness against disturbances. Furthermore, its adaptive property does not require any prior knowledge of the upper bound of the uncertainties. Finally, the proposed controller is applied to the manipulator joint trajectory tracking problem with varying friction subject to load and temperature changes. The numerical simulation verifies the effectiveness of our proposed method and its advantages over other controllers.

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“…Simoni et al [6] proposed a new static friction model for industrial robot manipulators that takes the temperature effects into account and does not need the *Corresponding Author Institutional Email: a_yazdizadeh@sbu.ac.ir (A. Yazdizadeh) measurement of the temperature of the manipulator joint. Simoni et al [7] then proposed a general framework for the inclusion of temperature in the friction model of industrial robots. They developed a new extended friction model considering temperature effects with simplifying assumptions [8].…”

Section: Introductionmentioning

confidence: 99%

A New Uniformly Ultimate Boundedness Criterion for Temperature Dependent Average Bristle Deflections

Azizi

Yazdizadeh

2020

IJE

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Temperature variation intensively affects parameters of the friction force, particularly the average bristle deflections. In our earlier research work, a temperature dependent friction compensation scheme was developed for serial rigid robot manipulators which was comprised of a temperature dependent viscous friction compensation scheme and a temperature dependent disturbance rejection scheme. In this paper, a new criterion for the uniformly ultimate boundedness of the temperature dependent average bristle deflections is proposed in such a way that the temperature dependent average bristle deflections preserve the property of uniformly ultimately boundedness in a larger region. This is an improvement to our earlier research work. As the result of this improvement, it is shown that the proposed method in our earlier work, is applicable to larger temperature dependent disturbance terms. These two improvements are the main contributions of this paper that augment our earlier research work. The idea is supported by a new theorem.

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On the Inclusion of Temperature in the Friction Model of Industrial Robots

Cited by 16 publications

References 14 publications

Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation

Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation

Tribo-dynamic analysis and motion control of a rotating manipulator based on the load and temperature dependent friction model

A New Uniformly Ultimate Boundedness Criterion for Temperature Dependent Average Bristle Deflections

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