Abstract
In dynamic model-based torque control of a robot without joint torque sensors, the estimated friction based on the friction model is reflected in the control input to compensate the friction torque exerted on each joint. Therefore, the more accurate the friction model is, the better the control performance of a robot is achieved, along with performance of direct teaching and collision detection. In this study, a more accurate friction model was constructed by considering the effect of gravitational torque on the friction model which consists of the Coulomb friction and viscous friction. Also, a series of experiments are conducted to verify the accuracy of the proposed friction model.
| Original language | English |
|---|---|
| Title of host publication | 2019 16th International Conference on Ubiquitous Robots, UR 2019 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 154-158 |
| Number of pages | 5 |
| ISBN (Electronic) | 9781728132327 |
| DOIs | |
| Publication status | Published - 2019 Jun 1 |
| Event | 16th International Conference on Ubiquitous Robots, UR 2019 - Jeju, Korea, Republic of Duration: 2019 Jun 24 → 2019 Jun 27 |
Publication series
| Name | 2019 16th International Conference on Ubiquitous Robots, UR 2019 |
|---|
Conference
| Conference | 16th International Conference on Ubiquitous Robots, UR 2019 |
|---|---|
| Country | Korea, Republic of |
| City | Jeju |
| Period | 19/6/24 → 19/6/27 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Human-Computer Interaction
- Mechanical Engineering
- Control and Optimization
Cite this
Friction Model of a Robot Manipulator Considering the effect of Gravitational torque. / Kim, Tae Jung; Ahn, Kuk Hyun; Song, Jae-Bok.
2019 16th International Conference on Ubiquitous Robots, UR 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 154-158 8768595 (2019 16th International Conference on Ubiquitous Robots, UR 2019).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Friction Model of a Robot Manipulator Considering the effect of Gravitational torque
AU - Kim, Tae Jung
AU - Ahn, Kuk Hyun
AU - Song, Jae-Bok
PY - 2019/6/1
Y1 - 2019/6/1
N2 - In dynamic model-based torque control of a robot without joint torque sensors, the estimated friction based on the friction model is reflected in the control input to compensate the friction torque exerted on each joint. Therefore, the more accurate the friction model is, the better the control performance of a robot is achieved, along with performance of direct teaching and collision detection. In this study, a more accurate friction model was constructed by considering the effect of gravitational torque on the friction model which consists of the Coulomb friction and viscous friction. Also, a series of experiments are conducted to verify the accuracy of the proposed friction model.
AB - In dynamic model-based torque control of a robot without joint torque sensors, the estimated friction based on the friction model is reflected in the control input to compensate the friction torque exerted on each joint. Therefore, the more accurate the friction model is, the better the control performance of a robot is achieved, along with performance of direct teaching and collision detection. In this study, a more accurate friction model was constructed by considering the effect of gravitational torque on the friction model which consists of the Coulomb friction and viscous friction. Also, a series of experiments are conducted to verify the accuracy of the proposed friction model.
UR - http://www.scopus.com/inward/record.url?scp=85070537468&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85070537468&partnerID=8YFLogxK
U2 - 10.1109/URAI.2019.8768595
DO - 10.1109/URAI.2019.8768595
M3 - Conference contribution
T3 - 2019 16th International Conference on Ubiquitous Robots, UR 2019
SP - 154
EP - 158
BT - 2019 16th International Conference on Ubiquitous Robots, UR 2019
PB - Institute of Electrical and Electronics Engineers Inc.
ER -