Abstract
In order to solve the problem that the joint friction torque value of industrial robots is difficult to be measured in practice, the joint friction identification method based on the energy model is used to indirectly obtain the friction model parameters by measuring the energy consumption value. According to the energy model and the measured robot energy value, the genetic algorithm is used to realize the parameter identification of the Stribeck friction model of joint friction. The results of the two identification methods based on friction torque identification and energy model identification are compared. The simulation results show that the error ratio of all the friction model parameters obtained by the two identification methods is less than 8%, and the error target value of the two identification results is less than 0.1%, which can effectively identify the relevant friction parameters. By designing an experimental scheme, the different speeds and corresponding energy consumption data of the IRB140 robot when joint 1 operates at a constant speed in a specified time are measured, and the Stribeck friction model parameters of the IRB140 robot’s joint 1 are identified by the proposed method.
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