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EnglishThe paper proposes a general friction identification framework for industrial manipulators, including the automatic handling of all the required phases, from data acquisition and processing up to parameters identification. A complete static friction model is used, with the insertion of a rough approximation of the hysteretic behavior of friction; switching to a possible simpler model is also automatically executed when possible. The proposed solution has been implemented in a software module, which has been integrated into the control architecture of an industrial robot, and experimentally tested. The results have shown that a very accurate reconstruction of the actual motor currents is provided, when the friction estimated using the proposed framework is inserted in the robot dynamic model.
Development of a general friction identification framework for industrial manipulators / Indri, Marina; Trapani, Stefano; Lazzero, Ivan. - ELETTRONICO. - (2016), pp. 6859-6866. ((Intervento presentato al convegno IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society tenutosi a Florence, Italy nel October 24-27, 2016.
| Titolo: | Development of a general friction identification framework for industrial manipulators |
| Autori: | |
| Data di pubblicazione: | 2016 |
| Abstract: | The paper proposes a general friction identification framework for industrial manipulators, inclu...ding the automatic handling of all the required phases, from data acquisition and processing up to parameters identification. A complete static friction model is used, with the insertion of a rough approximation of the hysteretic behavior of friction; switching to a possible simpler model is also automatically executed when possible. The proposed solution has been implemented in a software module, which has been integrated into the control architecture of an industrial robot, and experimentally tested. The results have shown that a very accurate reconstruction of the actual motor currents is provided, when the friction estimated using the proposed framework is inserted in the robot dynamic model. |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| IECON2016.pdf | Articolo | 2. Post-print / Author's Accepted Manuscript | Non Pubblico - Accesso privato/ristretto | Administrator Richiedi una copia |
http://hdl.handle.net/11583/2651077
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