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Modeling and Identification of Position and Temperature Dependent Friction Phenomena without Temperature Sensing

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Author

Editor

  • Alois Knoll

Summary, in English

This paper investigates both positional dependence in systems with friction and the influence an increase in temperature has on the friction behavior. The positional dependence is modeled with a Radial Basis Function network and the temperature dependence is modeled as a first order system with the power loss due to friction as input, eliminating the need for temperature sensing. The proposed methods are evaluated in both simulations and experiments on two industrial robots with strong positional and temperature friction dependence.

Publishing year

2015

Language

English

Pages

3045-3051

Publication/Series

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Robotics

Keywords

  • Friction
  • System Identification
  • Radial Basis Function Network
  • Temperature Modeling

Conference name

IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015

Conference date

2015-09-28 - 2015-10-02

Conference place

Hamburg, Germany

Status

Published

Project

  • Flexifab
  • LU Robotics Laboratory