Identification and Compensation of Gear Friction for Modeling of Robots
The identification of the dynamics of a standard industrial robot is solved by the application of the multivariable least square method. In order to eliminate the dominant influence of friction in gears and joints a nonlinear friction model is adapted to measured friction characteristics. Its influence is compensated in the identification step. The base parameter vector is grouped and optimal trajectories are used to identify each group. The quality of the identified model is verified by comparison of measured trajectories and torques predicted by the model.
KeywordsJoint Angle Optimal Trajectory Industrial Robot Friction Torque Friction Characteristic
Unable to display preview. Download preview PDF.
- Daemi, M.; Heimann, B.: Inverse Dynamik and Identifikation von Robotermodellen, Technische Mechanik, Band 15, Heft 2, 1995, S. 107–117.Google Scholar
- Gautier, M.; Khalil, W.: A Direct Determination of Minimum Inertial Parameters of Robots, Proc. IEEE Int. Conf. on Rob. and Autom., pp. 1682–1687, 1988.Google Scholar
- Khalil, W.; Kleinfinger, J.F.: A new geometric notation for open and closed loop robots, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1174–1180, 1986.Google Scholar