2021
DOI: 10.1109/access.2021.3076308
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Passivity Guaranteed Dynamic Friction Model With Temperature and Load Correction: Modeling and Compensation for Collaborative Industrial Robot

Abstract: 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 invo… Show more

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Cited by 13 publications
(6 citation statements)
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“…It has to be re-computed after the new solutions of θD and θF are obtained from Eq. (18). Therefore, the components f T and f τ are calculated and compensated in L 3 and L 4 , and this effectively avoids their influence on the linearization of dynamics in L 2 .…”
Section: Overall Frameworkmentioning
confidence: 99%
See 2 more Smart Citations
“…It has to be re-computed after the new solutions of θD and θF are obtained from Eq. (18). Therefore, the components f T and f τ are calculated and compensated in L 3 and L 4 , and this effectively avoids their influence on the linearization of dynamics in L 2 .…”
Section: Overall Frameworkmentioning
confidence: 99%
“…Since most collaborative robots rely on geared drives where actuation performance is significantly influenced by frictional effects, it is important to model and identify robots’ joint friction [17, 18]. Typical friction models describe the joint friction torque as a nonlinear and discontinuous function that generally contains components of Coulomb friction, viscous friction, and Stribeck friction [3, 8, 19, 20].…”
Section: Introductionmentioning
confidence: 99%
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“…The friction model can be arbitrarily simplified, as much as describing it only by means of the viscous and Coulomb terms without any major modeling error [28]. Nonetheless, a higher accuracy seems to be achievable by considering also the dependence to load [35,36] and temperature [37]. Some extensive studies by Madsen et al offer a rather complete characterization of friction for the UR5e robot by means of a nonlinear model [38][39][40], which also takes into consideration joint stiffness.…”
Section: Introductionmentioning
confidence: 99%
“…Among them, the multi-joint robot had the characteristics of compact structure and flexible operation [5]. For multi-joint robots, kinematics [6], joint clearance [7] and friction model [8] had been well studied. These research results showed that the reducer was an important part of the multi-joint robot.…”
Section: Introductionmentioning
confidence: 99%