Experimental friction identification in robot drives

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

doi:10.1109/ICRA.2014.6907744

Experimental friction identification in robot drives

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

Chair of Applied Mechanics

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

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.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6006-6011
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907744
State	Published - 22 Sep 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

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10.1109/ICRA.2014.6907744

Cite this

Baur, J., Dendorfer, S., Pfaff, J., Schutz, C., Buschmann, T., & Ulbrich, H. (2014). Experimental friction identification in robot drives. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 6006-6011). Article 6907744 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907744

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title = "Experimental friction identification in robot drives",

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.",

author = "Joerg Baur and Sebastian Dendorfer and Julian Pfaff and Christoph Schutz and Thomas Buschmann and Heinz Ulbrich",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",

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doi = "10.1109/ICRA.2014.6907744",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

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Baur, J, Dendorfer, S, Pfaff, J, Schutz, C, Buschmann, T & Ulbrich, H 2014, Experimental friction identification in robot drives. in Proceedings - IEEE International Conference on Robotics and Automation., 6907744, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 6006-6011, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907744

Experimental friction identification in robot drives. / Baur, Joerg; Dendorfer, Sebastian; Pfaff, Julian et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 6006-6011 6907744 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Experimental friction identification in robot drives

AU - Baur, Joerg

AU - Dendorfer, Sebastian

AU - Pfaff, Julian

AU - Schutz, Christoph

AU - Buschmann, Thomas

AU - Ulbrich, Heinz

PY - 2014/9/22

Y1 - 2014/9/22

N2 - 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.

AB - 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.

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M3 - Conference contribution

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T3 - Proceedings - IEEE International Conference on Robotics and Automation

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BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014

Y2 - 31 May 2014 through 7 June 2014

ER -

Baur J, Dendorfer S, Pfaff J, Schutz C, Buschmann T, Ulbrich H. Experimental friction identification in robot drives. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 6006-6011. 6907744. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907744

Experimental friction identification in robot drives

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