DocumentCode
1948204
Title
Friction modeling and identification for industrial manipulators
Author
Indri, Marina ; Lazzero, Ivan ; Antoniazza, Alessandro ; Bottero, Aldo Maria
Author_Institution
Dipt. di Autom. e Inf., Politec. di Torino, Turin, Italy
fYear
2013
fDate
10-13 Sept. 2013
Firstpage
1
Lastpage
8
Abstract
The paper is focused on the development of an adequate model of the friction acting on the joints of an industrial manipulator, suitable to be used for simulation and control purposes. The experimental tests required for the identification are executable via the standard interface for the robot programming, without any change in the path planning procedure or in the robot control. The proposed friction model is developed and validated for the six-dof Comau SMART NS12 manipulator.
Keywords
friction; industrial manipulators; manipulator dynamics; control purposes; friction identification; friction modeling; industrial manipulators; robot control; robot programming; simulation purposes; six-dof Comau SMART NS12 manipulator; Friction; Gravity; Joints; Manipulators; Mathematical model; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Emerging Technologies & Factory Automation (ETFA), 2013 IEEE 18th Conference on
Conference_Location
Cagliari
ISSN
1946-0740
Print_ISBN
978-1-4799-0862-2
Type
conf
DOI
10.1109/ETFA.2013.6647958
Filename
6647958
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