Name
Title | ||
|---|---|---|
On the use of a temperature based friction model for a virtual force sensor in industrial robot manipulators |
Abstract | ||
|---|---|---|
In this paper we propose the use of a dynamic model in which the effects of temperature on friction are considered to develop a virtual force sensor for industrial robot manipulators. The estimation of the inertial parameters and of the friction model are explained. The effectiveness of the virtual force sensor has been proven in a polishing task. In fact, the interaction forces between the robot and the environment has been measured both with the virtual force sensor and a common load cell. Moreover, the advantages provided by considering the temperature dependency are highlighted. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/ETFA.2017.8247655 | 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) |
Keywords | Field | DocType |
virtual force sensor,interaction forces,friction model,industrial robot manipulators,dynamic model,temperature based friction model,common load cell,temperature dependency | Inertial frame of reference,Force sensor,Load cell,Polishing,Torque,Control engineering,Industrial robot,Engineering,Robot,Temperature measurement | Conference |
ISSN | ISBN | Citations |
1946-0740 | 978-1-5090-6506-6 | 1 |
PageRank | References | Authors |
0.41 | 0 | 8 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Luca Simoni | 1 | 3 | 1.22 |
| Enrico Villagrossi | 2 | 3 | 2.17 |
| Manuel Beschi | 3 | 25 | 10.40 |
| Alberto Marini | 4 | 1 | 0.41 |
| Nicola Pedrocchi | 5 | 52 | 13.22 |
| Lorenzo Molinari Tosatti | 6 | 60 | 12.68 |
| Giovanni Legnani | 7 | 5 | 3.66 |
| Antonio Visioli | 8 | 224 | 40.89 |