ROMANSY 11 pp 89-96 | Cite as

Identification and Compensation of Gear Friction for Modeling of Robots

  • M. Daemi
  • B. Heimann
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


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.


Joint Angle Optimal Trajectory Industrial Robot Friction Torque Friction Characteristic 
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  1. [1]
    Daemi, M.; Heimann, B.: Inverse Dynamik and Identifikation von Robotermodellen, Technische Mechanik, Band 15, Heft 2, 1995, S. 107–117.Google Scholar
  2. [2]
    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
  3. [3]
    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

Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • M. Daemi
    • 1
  • B. Heimann
    • 1
  1. 1.University of HannoverHannoverGermany

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