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
N1 - Funding Information:
* This research was supported by the MOTIE under theIndustrial Foundation Technology Development Program supervised by the KEIT (No. 10063413) Tae-Jung Kim is the School of Mechanical Eng., Korea University, Seoul, Korea (email: ktj9602@korea.ac.kr).
Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
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
U2 - 10.1109/URAI.2019.8768595
DO - 10.1109/URAI.2019.8768595
M3 - Conference contribution
AN - SCOPUS:85070537468
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.
T2 - 16th International Conference on Ubiquitous Robots, UR 2019
Y2 - 24 June 2019 through 27 June 2019
ER -