Abstract
In dynamic model-based torque control of a robot without joint torque sensors, the estimated friction based on the friction model is reflected in the control input to compensate the friction torque exerted on each joint. Therefore, the more accurate the friction model is, the better the control performance of a robot is achieved, along with performance of direct teaching and collision detection. In this study, a more accurate friction model was constructed by considering the effect of gravitational torque on the friction model which consists of the Coulomb friction and viscous friction. Also, a series of experiments are conducted to verify the accuracy of the proposed friction model.
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