REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT FRICTION

Ronald G.K.M. Aarts, Ben J.B. Jonker, Rob R. Waiboer

2004

Abstract

This paper presents a realistic dynamic simulation of the closed-loop tip motion of a rigid-link manipulator with joint friction. The results from two simulation techniques are compared with experimental results. A six-axis industrial Stäubli robot is modelled. The LuGre friction model is used to account both for the sliding and pre-sliding regime. The manipulation task implies transferring a laser spot along a straight line with a trapezoidal velocity profile. Firstly, a non-linear finite element method is used to formulate the dynamic equations of the manipulator mechanism. In a closed-loop simulation the driving torques are generated by the control system. The computed trajectory tracking errors agree well with the experimental results. Unfortunately, the simulation is very time-consuming due to the small time step of the discrete-time controller. Secondly, a perturbation method has been applied. In this method the perturbed motion of the manipulator is modelled as a first-order perturbation of the nominal manipulator motion. Friction torques at the actuator joints are introduced at the stage of perturbed dynamics. A substantial reduction of the computer time is achieved without loss of accuracy.

Paper Citation

in Harvard Style

Aarts R., Jonker B. and Waiboer R. (2004). REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT FRICTION . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 48-55. DOI: 10.5220/0001143500480055

in Bibtex Style

@conference{icinco04,
author={Ronald G.K.M. Aarts and Ben J.B. Jonker and Rob R. Waiboer},
title={REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT FRICTION},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={48-55},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001143500480055},
isbn={972-8865-12-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT FRICTION
SN - 972-8865-12-0
AU - Aarts R.
AU - Jonker B.
AU - Waiboer R.
PY - 2004
SP - 48
EP - 55
DO - 10.5220/0001143500480055