A fractional model of the friction-temperature behavior in robot joints
It is well-known that friction changes with the temperature in robotic joints, and the temperature depends on the action being performed. In this paper we present a fractional model that describes the relationship between power generation/loss and temperature in the joints of industrial robots. The...
| Main Authors: | , , , , |
|---|---|
| Format: | Conference Paper |
| Language: | English |
| Published: |
IEEE
2019
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/20.500.11937/89489 |
| _version_ | 1848765231136768000 |
|---|---|
| author | Pagani, R. Padula, Fabrizio Legnani, G. Loxton, Ryan Visioli, A. |
| author_facet | Pagani, R. Padula, Fabrizio Legnani, G. Loxton, Ryan Visioli, A. |
| author_sort | Pagani, R. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | It is well-known that friction changes with the temperature in robotic joints, and the temperature depends on the action being performed. In this paper we present a fractional model that describes the relationship between power generation/loss and temperature in the joints of industrial robots. The proposed mathematical model is used to predict friction variation during the robot working cycle without using temperature sensors. Several experimental tests have been performed on a commercial 6 degree-of-freedom anthropomorphic manipulator. Results confirm that the proposed model is able to estimate the behavior of the friction in the joints during robot working cycles. This can be used to compensate for friction, thus improving the control performance, and to predict energy consumption. |
| first_indexed | 2025-11-14T11:31:57Z |
| format | Conference Paper |
| id | curtin-20.500.11937-89489 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T11:31:57Z |
| publishDate | 2019 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-894892022-11-08T03:16:18Z A fractional model of the friction-temperature behavior in robot joints Pagani, R. Padula, Fabrizio Legnani, G. Loxton, Ryan Visioli, A. Science & Technology Technology Automation & Control Systems Engineering, Electrical & Electronic Robotics Engineering Fractional friction robotics IDENTIFICATION HYSTERESIS DESIGN LUGRE It is well-known that friction changes with the temperature in robotic joints, and the temperature depends on the action being performed. In this paper we present a fractional model that describes the relationship between power generation/loss and temperature in the joints of industrial robots. The proposed mathematical model is used to predict friction variation during the robot working cycle without using temperature sensors. Several experimental tests have been performed on a commercial 6 degree-of-freedom anthropomorphic manipulator. Results confirm that the proposed model is able to estimate the behavior of the friction in the joints during robot working cycles. This can be used to compensate for friction, thus improving the control performance, and to predict energy consumption. 2019 Conference Paper http://hdl.handle.net/20.500.11937/89489 10.1109/ICCMA46720.2019.8988638 English IEEE restricted |
| spellingShingle | Science & Technology Technology Automation & Control Systems Engineering, Electrical & Electronic Robotics Engineering Fractional friction robotics IDENTIFICATION HYSTERESIS DESIGN LUGRE Pagani, R. Padula, Fabrizio Legnani, G. Loxton, Ryan Visioli, A. A fractional model of the friction-temperature behavior in robot joints |
| title | A fractional model of the friction-temperature behavior in robot joints |
| title_full | A fractional model of the friction-temperature behavior in robot joints |
| title_fullStr | A fractional model of the friction-temperature behavior in robot joints |
| title_full_unstemmed | A fractional model of the friction-temperature behavior in robot joints |
| title_short | A fractional model of the friction-temperature behavior in robot joints |
| title_sort | fractional model of the friction-temperature behavior in robot joints |
| topic | Science & Technology Technology Automation & Control Systems Engineering, Electrical & Electronic Robotics Engineering Fractional friction robotics IDENTIFICATION HYSTERESIS DESIGN LUGRE |
| url | http://hdl.handle.net/20.500.11937/89489 |