Temperature dependent friction estimation: Application to lubricant health monitoring

Márton, Lőrinc; Linden, Franciscus L. J. van der

doi:10.1016/j.mechatronics.2012.09.003

Cited by 27 publications

(32 citation statements)

References 33 publications

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“…The latter is in general difficult to estimate (only if the robot has been at rest for long time it can be assumed that the joint temperature is equal to the environmental temperature) and as already mentioned, it is rather impractical to measure it directly. For this reason, a temperature observer is necessary to compensate for a wrong estimation of the initial condition [21]. Further, the computation ofω in (19) requires the knowledge of τ f and therefore the temperature has to be computed in an accurate way.…”

Section: Identificationmentioning

confidence: 99%

“…where i is the current sampling time instant, τ f,RM S is the RMS friction torque value determined by considering N previous samples of the measured friction torque,τ f,RM S is the RMS value of the previous N samples of the estimated friction torque (obtained by applying (22)),ω is the velocity computed using (21) for N previous samples and t s is the sampling period. The proposed scheme is shown in Figure 8.…”

Section: Identificationmentioning

confidence: 99%

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Modelling the temperature in joint friction of industrial manipulators

Simoni¹,

Beschi²,

Legnani³

et al. 2017

Robotica

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In this paper, a new model for joint dynamic friction of industrial robot manipulators is presented. In particular, the effects of the temperature in the joints are considered. A polynomial-based model is proposed and the parameter estimation is performed without the need of a joint temperature sensor. The use of an observer is then proposed to compensate for the uncertainty in the initial estimation of the temperature value. A large experimental campaign show that the model, in spite of the simplifying assumptions made, is effective in estimating the joint temperature and therefore the friction torque during the robot operations, even for values of velocities that have not been previously employed.

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Section: Identificationmentioning

confidence: 99%

Section: Identificationmentioning

confidence: 99%

Modelling the temperature in joint friction of industrial manipulators

Simoni¹,

Beschi²,

Legnani³

et al. 2017

Robotica

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show abstract

“…The majority of them agrees that the accuracy of the dynamic model can be improved by using a proper friction model [3]. Several friction models presented in the literature are nowadays adopted in mechatronics (see for example [4], [5], [6], [7] or [8]), and recently, the dependency of friction force on the temperature have been more and more analysed [9], [10], [11], [12]. A complete dynamic model of a robot manipulator can be used for several applications in a large variety of working areas.…”

Section: Introductionmentioning

confidence: 99%

On the use of a temperature based friction model for a virtual force sensor in industrial robot manipulators

Simoni

Villagrossi

Beschi

et al. 2017

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

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This is the pre-peer reviewed version of the following article: On the use of a temperature based friction model for a virtual force sensor in industrial robot manipulators, which has been published in final form at 10.1109/ETFA.2017.8247655. This article may be used for non-commercial purposes in accordance with Journal terms and conditions for Self-Archiving. AbstractIn this paper we propose the use of a dynamic model in which the effects of temperature on friction are considered to develop a virtual force sensor for industrial robot manipulators. The estimation of the inertial parameters and of the friction model are explained. The effectiveness of the virtual force sensor has been proven in a polishing task. In fact, the interaction forces between the robot and the environment has been measured both with the virtual force sensor and a common load cell. Moreover, the advantages provided by considering the temperature dependency are highlighted.

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“…These apparatus are present in engines (automotive, aviation, rail, etc.) and in any industrial systems where moving surfaces or mechanical parts are in contact [2]. As it is well known, if friction is not correctly limited, it can induce a limit in life cycles, tracking lag and other important issues leading to dramatic failure [3,4].…”

Section: Introductionmentioning

confidence: 99%

“…Besides, changes in quality of the lubricant induce variations in the friction parameters, and consequently influence the motion dynamics of the controlled mechanical system [2].…”

Section: Introductionmentioning

confidence: 99%