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Modelling the temperature in joint friction of industrial manipulators

Published online by Cambridge University Press:  10 November 2017

Luca Simoni ,
Manuel Beschi Open the ORCID record for Manuel Beschi [Opens in a new window] ,
Giovanni Legnani Open the ORCID record for Giovanni Legnani [Opens in a new window]  and
Antonio Visioli Open the ORCID record for Antonio Visioli [Opens in a new window]
Luca Simoni
Affiliation:
Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Via Branze 38, I-25123 Brescia, Italy. E-mails: l.simoni002@unibs.it, giovanni.legnani@unibs.it
Manuel Beschi
Affiliation:
Istituto di Tecnologie Industriali e Automazione, National Research Council (ITIA-CNR), Via Corti 12, I-20133 Milan, Italy. E-mail: manuel.beschi@itia.cnr.it
Giovanni Legnani
Affiliation:
Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Via Branze 38, I-25123 Brescia, Italy. E-mails: l.simoni002@unibs.it, giovanni.legnani@unibs.it
Antonio Visioli*
Affiliation:
Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Via Branze 38, I-25123 Brescia, Italy. E-mails: l.simoni002@unibs.it, giovanni.legnani@unibs.it
*
*Corresponding author. E-mail: antonio.visioli@unibs.it
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Summary

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.

Keywords

FrictionIndustrial manipulatorsModelling and identification
Type
Articles
Information
Robotica , Volume 37 , Issue 5 , May 2019 , pp. 906 - 927
Copyright
Copyright © Cambridge University Press 2017 

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