Experimental friction identification in robot drives

Author

Baur, Joerg ; Dendorfer, Sebastian ; Pfaff, Julian ; Schutz, Christoph ; Buschmann, Thomas ; Ulbrich, Heinz

Author_Institution

Inst. of Appl. Mech., Tech. Univ. Munchen, Garching, Germany

fYear

2014

fDate

May 31 2014-June 7 2014

Firstpage

6006

Lastpage

6011

Abstract

The drive mechanism of many robot joints are composed of an electrical actuator and a gear transmission. Besides actuator dynamics and gear elasticity, friction effects are of particular importance for accurate dynamic modeling. This paper presents the design and development of a modular testbed for experimental friction identification in modular robot drives. We have used this testbed to investigate modules that were developed at our institute for the humanoid robot Lola and an agricultural manipulator. We discovered that a friction law, similar to a law proposed in the literature, can be very accurately fitted to our measurements.

Keywords

drives; electric actuators; friction; gears; manipulator dynamics; actuator dynamics; agricultural manipulator; drive mechanism; dynamic modeling; electrical actuator; friction effects; friction identification; friction law; gear elasticity; gear transmission; humanoid robot Lola; modular robot drives; robot joints; Friction; Gears; Load modeling; Robots; Solid modeling; Torque; Torque measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2014 IEEE International Conference on

Conference_Location

Hong Kong

Type

conf

DOI

10.1109/ICRA.2014.6907744

Filename

6907744