Abstract
This paper proposes a procedure for identifying rate-dependent friction of robotic manipulators of which the motion is limited due to the configuration or the environment. The procedure is characterized by the following three features: (i) the rate dependency is represented by line sections connecting sampled velocity-force pairs, (ii) the robot is position-controlled to track desired trajectories that are some cycles of sinusoidal motion with different frequencies, and (iii) each velocity-force pair is sampled from one cycle of the motion with subtracting the effects of the gravity and the inertia. The procedure was validated with a six-axis industrial robotic manipulator YASKAWA MOTOMAN-HP3J, of which the joints are equipped with harmonic-drive transmissions of the reduction ratios of 81.5-224. The experimental results show that the identification is achieved with a sufficient accuracy with the 20 degrees of motion of each joint. In addition, the results were utilized for friction compensation, successfully reducing the effect of the friction by 60-80%.
| Original language | English |
|---|---|
| Pages (from-to) | 36-44 |
| Number of pages | 9 |
| Journal | Mechatronics |
| Volume | 36 |
| DOIs | |
| Publication status | Published - Jun 1 2016 |
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All Science Journal Classification (ASJC) codes
- Mechanical Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
Cite this
An identification procedure for rate-dependency of friction in robotic joints with limited motion ranges. / Iwatani, Masayoshi; Kikuuwe, Ryo.
In: Mechatronics, Vol. 36, 01.06.2016, p. 36-44.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - An identification procedure for rate-dependency of friction in robotic joints with limited motion ranges
AU - Iwatani, Masayoshi
AU - Kikuuwe, Ryo
PY - 2016/6/1
Y1 - 2016/6/1
N2 - This paper proposes a procedure for identifying rate-dependent friction of robotic manipulators of which the motion is limited due to the configuration or the environment. The procedure is characterized by the following three features: (i) the rate dependency is represented by line sections connecting sampled velocity-force pairs, (ii) the robot is position-controlled to track desired trajectories that are some cycles of sinusoidal motion with different frequencies, and (iii) each velocity-force pair is sampled from one cycle of the motion with subtracting the effects of the gravity and the inertia. The procedure was validated with a six-axis industrial robotic manipulator YASKAWA MOTOMAN-HP3J, of which the joints are equipped with harmonic-drive transmissions of the reduction ratios of 81.5-224. The experimental results show that the identification is achieved with a sufficient accuracy with the 20 degrees of motion of each joint. In addition, the results were utilized for friction compensation, successfully reducing the effect of the friction by 60-80%.
AB - This paper proposes a procedure for identifying rate-dependent friction of robotic manipulators of which the motion is limited due to the configuration or the environment. The procedure is characterized by the following three features: (i) the rate dependency is represented by line sections connecting sampled velocity-force pairs, (ii) the robot is position-controlled to track desired trajectories that are some cycles of sinusoidal motion with different frequencies, and (iii) each velocity-force pair is sampled from one cycle of the motion with subtracting the effects of the gravity and the inertia. The procedure was validated with a six-axis industrial robotic manipulator YASKAWA MOTOMAN-HP3J, of which the joints are equipped with harmonic-drive transmissions of the reduction ratios of 81.5-224. The experimental results show that the identification is achieved with a sufficient accuracy with the 20 degrees of motion of each joint. In addition, the results were utilized for friction compensation, successfully reducing the effect of the friction by 60-80%.
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UR - http://www.scopus.com/inward/citedby.url?scp=84964277268&partnerID=8YFLogxK
U2 - 10.1016/j.mechatronics.2016.04.002
DO - 10.1016/j.mechatronics.2016.04.002
M3 - Article
VL - 36
SP - 36
EP - 44
JO - Mechatronics
JF - Mechatronics
SN - 0957-4158
ER -