Technique for Friction Model Identification in an Industrial Robot Joint Using KUKA KR10

Friction is an essential component of the forces recorded in the joint of an industrial robot-manipulator, and has a significant impact on the functional qualities of the robot. The type and number of kinematic connections used in the joint design determine its friction model. The friction of each joint can exhibit individual features due to the variety of structures, as well as their condition. In view of the interaction complexity between kinematic pairs, friction is essentially nonlinear, often unsteady, and also depends on many factors. In this article, it is proposed a technique that allows to identify the friction model as a function of load, velocity and temperature, to separate the components such as dry and viscous friction, the Stribeck effect, and also their dependence on these factors. Dependency measurements are performed in such a way as to isolate the influence of individual factors. The technique can be applied without special technical preparation of the robot or knowledge of its kinematic model and mass-inertial characteristics. The proposed solution is demonstrated by experiments on KUKA KR10 industrial robot.

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