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

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

doi:10.1109/URAI.2019.8768595

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

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

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 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	https://doi.org/10.1109/URAI.2019.8768595
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

ASJC Scopus subject areas

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

Access to Document

10.1109/URAI.2019.8768595

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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

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

Kim, TJ, Ahn, KH & 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., 8768595, 2019 16th International Conference on Ubiquitous Robots, UR 2019, Institute of Electrical and Electronics Engineers Inc., pp. 154-158, 16th International Conference on Ubiquitous Robots, UR 2019, Jeju, Korea, Republic of, 19/6/24. https://doi.org/10.1109/URAI.2019.8768595

Kim TJ, Ahn KH, Song J-B. Friction Model of a Robot Manipulator Considering the effect of Gravitational torque. In 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). https://doi.org/10.1109/URAI.2019.8768595

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