Measuring of friction in robots

Abstract

This paper discusses the sources and consequences of high friction losses in robot mechanisms. The experimental results lead to mathematical models for friction forces in nonpreloaded and preloaded mechanisms. A method for measuring forces resulting from friction in joints of preloaded mechanisms is also presented. The results of friction force measurements, included in an inverse dynamic program for robots, lead to an agreement between calculations and the measurement of forces in robots.SCOPUS: ar.jinfo:eu-repo/semantics/publishe