Friction Model of Industrial Robot Joint with Temperature Correction by Example of KUKA KR10
Joint Authors
Nevmerzhitskiy, Maksim N.
Notkin, Boris S.
Vara, Andrey V.
Zmeu, Konstantin V.
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-01-06
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
The quality of industrial robots essentially depends on the properties of their kinematic couples.
This research has involved conducting an experimental study of the friction torque in a joint of the KUKA KR10 industrial robot and building its model.
It has been established that the largest impact on friction in the joint is caused by its axial load and velocity, as well as the temperature of the mechanism, which is generally not homogeneous.
It is not possible to measure temperature fields in the joints of a serial industrial robot directly.
This study has set forth a method to estimate friction torque taking into account the temperature factor indirectly.
For this, we have used the motor temperature available for measuring in combination with special periodical motions, performed by the robot, during which we estimated the actual friction torque in the joint and calculated a temperature correction based on our findings.
American Psychological Association (APA)
Nevmerzhitskiy, Maksim N.& Notkin, Boris S.& Vara, Andrey V.& Zmeu, Konstantin V.. 2019. Friction Model of Industrial Robot Joint with Temperature Correction by Example of KUKA KR10. Journal of Robotics،Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1186985
Modern Language Association (MLA)
Nevmerzhitskiy, Maksim N.…[et al.]. Friction Model of Industrial Robot Joint with Temperature Correction by Example of KUKA KR10. Journal of Robotics No. 2019 (2019), pp.1-11.
https://search.emarefa.net/detail/BIM-1186985
American Medical Association (AMA)
Nevmerzhitskiy, Maksim N.& Notkin, Boris S.& Vara, Andrey V.& Zmeu, Konstantin V.. Friction Model of Industrial Robot Joint with Temperature Correction by Example of KUKA KR10. Journal of Robotics. 2019. Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1186985
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186985