A fractional model of the friction-temperature behavior in robot joints

Pagani, R.; Padula, Fabrizio; Legnani, G.; Loxton, Ryan; Visioli, A.

doi:10.1109/ICCMA46720.2019.8988638

Access Status

Fulltext not available

Authors

Pagani, R.

Padula, Fabrizio

Legnani, G.

Loxton, Ryan

Visioli, A.

Date

2019

Type

Conference Paper

Metadata

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Citation

Pagani, R. and Padula, F. and Legnani, G. and Loxton, R. and Visioli, A. 2019. A fractional model of the friction-temperature behavior in robot joints. In 7th IEEE International Conference on Control, Mechatronics and Automation (ICCMA), 6 - 8 Nov 2019, Delft, Netherlands.

Source Conference

7th IEEE International Conference on Control, Mechatronics and Automation (ICCMA)

DOI

10.1109/ICCMA46720.2019.8988638

ISBN

9781728137872

Faculty

Faculty of Science and Engineering

School

School of Elec Eng, Comp and Math Sci (EECMS)

URI

http://hdl.handle.net/20.500.11937/89489

Collection

Curtin Research Publications

Abstract

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.