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dc.contributor.authorPagani, R.
dc.contributor.authorPadula, Fabrizio
dc.contributor.authorLegnani, G.
dc.contributor.authorLoxton, Ryan
dc.contributor.authorVisioli, A.
dc.date.accessioned2022-10-23T23:16:53Z
dc.date.available2022-10-23T23:16:53Z
dc.date.issued2019
dc.identifier.citationPagani, 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.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/89489
dc.identifier.doi10.1109/ICCMA46720.2019.8988638
dc.description.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.

dc.languageEnglish
dc.publisherIEEE
dc.subjectScience & Technology
dc.subjectTechnology
dc.subjectAutomation & Control Systems
dc.subjectEngineering, Electrical & Electronic
dc.subjectRobotics
dc.subjectEngineering
dc.subjectFractional
dc.subjectfriction
dc.subjectrobotics
dc.subjectIDENTIFICATION
dc.subjectHYSTERESIS
dc.subjectDESIGN
dc.subjectLUGRE
dc.titleA fractional model of the friction-temperature behavior in robot joints
dc.typeConference Paper
dcterms.source.startPage157
dcterms.source.endPage161
dcterms.source.isbn9781728137872
dcterms.source.conference7th IEEE International Conference on Control, Mechatronics and Automation (ICCMA)
dcterms.source.conference-start-date6 Nov 2019
dcterms.source.conferencelocationDelft, Netherlands
dc.date.updated2022-10-23T23:16:47Z
curtin.departmentSchool of Elec Eng, Comp and Math Sci (EECMS)
curtin.accessStatusFulltext not available
curtin.facultyFaculty of Science and Engineering
curtin.contributor.orcidPadula, Fabrizio [0000-0002-0013-9526]
curtin.contributor.orcidLoxton, Ryan [0000-0001-9821-2885]
curtin.contributor.researcheridPadula, Fabrizio [O-7513-2015]
curtin.contributor.researcheridLoxton, Ryan [F-9383-2014]
dcterms.source.conference-end-date8 Nov 2019
curtin.contributor.scopusauthoridPadula, Fabrizio [56521286600]
curtin.contributor.scopusauthoridLoxton, Ryan [24438257500]


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