Archivio Istituzionale della RicercaThe paper is focused on the development of an adequate model of the friction acting on the joints of an industrial manipulator, suitable to be used for simulation and control purposes. The experimental tests required for the identification are executable via the standard interface for the robot programming, without any change in the path planning procedure or in the robot control. The proposed friction model is developed and validated for the six-dof Comau SMART NS12 manipulator.
Friction modeling and identification for industrial manipulators / Indri, Marina; Lazzero, Ivan; Antoniazza, A.; Bottero, A. M.. - (2013). (Intervento presentato al convegno 18th IEEE International Conference on Emerging Technologies & Factory Automation (ETFA 2013) tenutosi a Cagliari, Italy nel 10-13 Settembre 2013).
Friction modeling and identification for industrial manipulators
INDRI, Marina;LAZZERO, IVAN;
2013
Abstract
The paper is focused on the development of an adequate model of the friction acting on the joints of an industrial manipulator, suitable to be used for simulation and control purposes. The experimental tests required for the identification are executable via the standard interface for the robot programming, without any change in the path planning procedure or in the robot control. The proposed friction model is developed and validated for the six-dof Comau SMART NS12 manipulator.
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https://hdl.handle.net/11583/2515912
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