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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 (2015) IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015 In [Host publication title missing] 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
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Friction, System Identification, Radial Basis Function Network, Temperature Modeling
in
[Host publication title missing]
editor
Knoll, Alois and
pages
7 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems , 2015
external identifiers
  • scopus:84958185272
project
Flexifab
language
English
LU publication?
yes
id
1f6c0724-719d-451b-9304-36f906c537e2 (old id 7613758)
date added to LUP
2015-08-03 09:12:33
date last changed
2017-04-23 04:42:43
@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    = {[Host publication title missing]},
  editor       = {Knoll, Alois},
  keyword      = {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},
  year         = {2015},
}