Modelling the temperature in joint friction of industrial manipulators

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

doi:10.1017/s0263574717000509

Cited by 25 publications

(18 citation statements)

References 33 publications

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“…López-Martínez et al 17 presented a detailed multibody model of a robot arm to control the force and the position of the end, which is more accurate and reliable compared to the previous methods. Simoni et al 18 considered the friction of industrial robots effects of the temperature and verified the effectiveness of the theoretical model. In our system, the errors are various and complicated.…”

Section: Introductionmentioning

confidence: 93%

Analysis and Evaluation on Unloading Ratio of Zero-g Simulation System Based on Torques of Space Manipulator

Tian

Tang

2019

Robotica

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SummaryIn this paper, a dynamic model of a seven-joints manipulator operated in a zero-g simulation system is established. The errors of the friction, the suspension force, and the flexible deformation of arms are considered. Furthermore, the unloading ratio, which can evaluate the performance of the simulation system, is presented. It can reflect the level of similarity between the system and the space environment directly and effectively. The results of experimental and theoretical analyses verify the correctness of the model. It helps us to get the joint torques when the actual space manipulator without the torque sensor operates in this system and guarantees the safety of the experiments.

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Section: Introductionmentioning

confidence: 93%

Analysis and Evaluation on Unloading Ratio of Zero-g Simulation System Based on Torques of Space Manipulator

Tian

Tang

2019

Robotica

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“…This temperature dependent friction may be decoupled to a viscous term and a bounded disturbance term as presented in Equation (8)…”

Section: By Definitionmentioning

confidence: 99%

“…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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“…Furthermore, it is difficult to identify the friction parameters of the LuGre model. In addition, some friction models that consider temperature have been proposed in [17][18][19]. Although these models can describe some features of friction to a certain extent, unknown friction models are extremely complex because friction is related to many factors, such as the relative velocity, displacement, temperature, and material properties of the contact surfaces.…”

Section: Introductionmentioning

confidence: 99%

A Novel Virtual Sensor for Estimating Robot Joint Total Friction Based on Total Momentum

Fan

Fang

et al. 2019

Applied Sciences

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Robot joint friction is an important and complicated issue in improving robot control performance. In this paper, a virtual sensor based on the total generalized momentum concept is proposed to estimate the total friction torque, including both the motor-side and link-side friction, of robot joints without joint torque sensors. The proposed algorithm only requires a robot joint dynamics model and not a complex friction model dependent on factors such as time and velocity. By compensating for the estimated friction torque with a robot joint controller, the trajectory tracking performance of the controller, especially the velocity tracking performance, can be improved. To verify the effectiveness of the developed algorithm, 2-DOF planar manipulator simulations and single-joint system experiments are conducted. The simulation and experimental results show that the designed virtual sensor can effectively estimate the total joint friction disturbance and that the controller trajectory tracking performance is improved after observed friction compensation. However, the position tracking performance improvement of the controller is less than that for the velocity tracking performance improvement during the experiments. In addition, the velocity step response ability and velocity tracking performance of the controller are improved more at low velocities than that at high velocities in the experiments. The proposed algorithm has engineering and theoretical significance for estimating robot joint friction and improving the performance of robot joint controllers.

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Modelling the temperature in joint friction of industrial manipulators

Cited by 25 publications

References 33 publications

Analysis and Evaluation on Unloading Ratio of Zero-g Simulation System Based on Torques of Space Manipulator

Analysis and Evaluation on Unloading Ratio of Zero-g Simulation System Based on Torques of Space Manipulator

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

A Novel Virtual Sensor for Estimating Robot Joint Total Friction Based on Total Momentum

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