Friction identification in robotic manipulators: case studies

Abstract

In this paper, friction identification in robotic manipulators is studied. A single state dynamic model of the friction force is utilized for the friction compensation algorithm. A practical method for obtaining parameters of the model which pertains to robotic manipulators is presented. In order to evaluate the competence of this method, two different manipulators with different friction characteristics are examined. A 2-DOF manipulator used for high-speed, micro-meter precision manipulation and a 4-DOF macro-manipulator used for long-reach positioning tasks are considered. It is shown that despite the different nature of the two manipulators, the same method can effectively improve the speed and performance of manipulation in both cases