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Modeling and Identification of Position and Temperature Dependent Friction Phenomena without Temperature Sensing

Bagge Carlson, Fredrik LU ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2015) IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015 p.3045-3051
Abstract
This paper investigates both positional dependence in systems with friction and the influence an increase in temperature has on the friction behavior. The positional dependence is modeled with a Radial Basis Function network and the temperature dependence is modeled as a first order system with the power loss due to friction as input, eliminating the need for temperature sensing. The proposed methods are evaluated in both simulations and experiments on two industrial robots with strong positional and temperature friction dependence.
Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Friction, System Identification, Radial Basis Function Network, Temperature Modeling
host publication
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
editor
Knoll, Alois
pages
7 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015
conference location
Hamburg, Germany
conference dates
2015-09-28 - 2015-10-02
external identifiers
  • scopus:84958185272
DOI
10.1109/IROS.2015.7353797
project
Flexifab
RobotLab LTH
language
English
LU publication?
yes
id
1f6c0724-719d-451b-9304-36f906c537e2 (old id 7613758)
date added to LUP
2016-04-04 10:57:17
date last changed
2023-02-24 01:05:46
@inproceedings{1f6c0724-719d-451b-9304-36f906c537e2,
  abstract     = {{This paper investigates both positional dependence in systems with friction and the influence an increase in temperature has on the friction behavior. The positional dependence is modeled with a Radial Basis Function network and the temperature dependence is modeled as a first order system with the power loss due to friction as input, eliminating the need for temperature sensing. The proposed methods are evaluated in both simulations and experiments on two industrial robots with strong positional and temperature friction dependence.}},
  author       = {{Bagge Carlson, Fredrik and Robertsson, Anders and Johansson, Rolf}},
  booktitle    = {{2015 IEEE/RSJ International Conference on  Intelligent Robots and Systems (IROS)}},
  editor       = {{Knoll, Alois}},
  keywords     = {{Friction; System Identification; Radial Basis Function Network; Temperature Modeling}},
  language     = {{eng}},
  pages        = {{3045--3051}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Modeling and Identification of Position and Temperature Dependent Friction Phenomena without Temperature Sensing}},
  url          = {{https://lup.lub.lu.se/search/files/5660162/7766055.pdf}},
  doi          = {{10.1109/IROS.2015.7353797}},
  year         = {{2015}},
}