NDLI: Dynamic identification of robots with a dry friction model depending on load and velocity

Content Provider	IEEE Xplore Digital Library
Author	Hamon, P. Gautier, M. Garrec, P.
Copyright Year	2010
Description	Author affiliation: CEA, LIST, Interactive Robotics Laboratory, 18 route du Panorama, BP6, Fontenay-aux-Roses, F-92265, France (Hamon, P.; Garrec, P.) \|\| University of Nantes/IRCCyN, 1 rue de la Noë, BP 92101, Cedex 03, F-44321, France (Gautier, M.)
Abstract	Usually, the joint transmission friction model for robots is composed of a viscous friction force and of a constant dry sliding friction force. However, according to the Coulomb law, the dry friction force depends linearly on the load driven by the transmission. It follows that this effect must be taken into account for robots working with large variation of the payload or inertial and gravity forces, and actuated with transmissions as speed reducer, screw-nut or worm gear. This paper proposes a new inverse dynamic identification model for n degrees of freedom (dof) serial robot, where the dry sliding friction force is a linear function of both the dynamic and the external forces, with a velocity-dependent coefficient. A new identification procedure groups all the joint data collected while the robot is tracking planned trajectories with different payloads to get a global least squares estimation of inertial and new friction parameters. An experimental validation is carried out with a joint of an industrial robot.
Starting Page	6187
Ending Page	6193
File Size	864485
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649189
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction Robots Joints Force Load modeling Dynamics Inverse problems
Content Type	Text
Resource Type	Article

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