Identification and Compensation of Gear Friction for Modeling of Robots

verfasst von

M. Daemi, Bodo Heimann

Abstract

The identification of the dynamics of a standard industrial robot is solved by the application of the multivariable least square method. In order to eliminate the dominant influence of friction in gears and joints a nonlinear friction model is adapted to measured friction characteristics. Its influence is compensated in the identification step. The base parameter vector is grouped and optimal trajectories are used to identify each group. The quality of the identified model is verified by comparison of measured trajectories and torques predicted by the model.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

89-99

Anzahl der Seiten

11

Publikationsdatum

1996

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja