Friction Model of a Robot Manipulator Considering the effect of Gravitational torque

Tae Jung Kim, Kuk Hyun Ahn, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2019 16th International Conference on Ubiquitous Robots, UR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages154-158
Number of pages5
ISBN (Electronic)9781728132327
DOIs
Publication statusPublished - 2019 Jun 1
Event16th International Conference on Ubiquitous Robots, UR 2019 - Jeju, Korea, Republic of
Duration: 2019 Jun 242019 Jun 27

Publication series

Name2019 16th International Conference on Ubiquitous Robots, UR 2019

Conference

Conference16th International Conference on Ubiquitous Robots, UR 2019
CountryKorea, Republic of
CityJeju
Period19/6/2419/6/27

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Human-Computer Interaction
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Kim, T. J., Ahn, K. H., & Song, J-B. (2019). Friction Model of a Robot Manipulator Considering the effect of Gravitational torque. In 2019 16th International Conference on Ubiquitous Robots, UR 2019 (pp. 154-158). [8768595] (2019 16th International Conference on Ubiquitous Robots, UR 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2019.8768595