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Identification and Compensation of Gear Friction for Modeling of Robots

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Authors

  • M. Daemi
  • Bodo Heimann

Research Organisations

Details

Original languageEnglish
Title of host publicationProc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96
Place of PublicationUdine, Italy
Pages89-99
Number of pages11
Publication statusPublished - 1996

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.

Cite this

Identification and Compensation of Gear Friction for Modeling of Robots. / Daemi, M.; Heimann, Bodo.
Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96. Udine, Italy, 1996. p. 89-99.

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Daemi, M & Heimann, B 1996, Identification and Compensation of Gear Friction for Modeling of Robots. in Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96. Udine, Italy, pp. 89-99.
Daemi, M., & Heimann, B. (1996). Identification and Compensation of Gear Friction for Modeling of Robots. In Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96 (pp. 89-99).
Daemi M, Heimann B. Identification and Compensation of Gear Friction for Modeling of Robots. In Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96. Udine, Italy. 1996. p. 89-99
Daemi, M. ; Heimann, Bodo. / Identification and Compensation of Gear Friction for Modeling of Robots. Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, RoManSy96. Udine, Italy, 1996. pp. 89-99
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