Development of a general friction identification framework for industrial manipulators
The paper proposes a general friction identification framework for industrial manipulators, including the automatic handling of all the required phases, from data acquisition and processing up to parameters identification. A complete static friction model is used, with the insertion of a rough approximation of the hysteretic behavior of friction; switching to a possible simpler model is also automatically executed when possible. The proposed solution has been implemented in a software module, which has been integrated into the control architecture of an industrial robot, and experimentally tested. The results have shown that a very accurate reconstruction of the actual motor currents is provided, when the friction estimated using the proposed framework is inserted in the robot dynamic model.
IECON 2016 42nd Annual Conference of the IEEE Industrial Electronics Society