On the Inclusion of Temperature in the Friction Model of Industrial Robots

Abstract

This paper deals with a modelling technique that takes into account the effects of the temperature in the joint friction of industrial robot manipulators. In particular, it is shown that a general friction model can be suitably modified by explicitly considering the temperature as a parameter. This allows to estimate the friction term accurately in different operating conditions without the direct measurement of the joint internal temperature, which makes the overall technique suitable to apply in practical cases. Experimental results show the effectiveness of the methodology.