Friction Model of Industrial Robot Joint with Temperature Correction by Example of KUKA KR10

<div>Dependence of friction torque <svg height="6.1673pt" id="M230" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 6.40217 6.1673" width="6.40217pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M471 456L444 459C426 433 414 430 388 430C324 430 270 434 216 434C103 434 51 374 23 338L43 317C96 366 146 380 221 375L154 109C149 86 147 68 147 52C147 4 168 -12 197 -12C240 -12 291 25 334 71L320 96C295 75 268 58 252 58C238 58 227 79 238 138C251 211 272 296 292 372C310 372 332 368 350 368C391 368 421 369 434 371C444 388 455 413 471 456Z"></path></g></svg> upon velocity <svg height="12.1828pt" id="M231" style="vertical-align:-3.429461pt" version="1.1" viewbox="-0.0498162 -8.75334 7.69399 12.1828" width="7.69399pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,7.542,-.222)"><path d="M-161 571C-161 600 -183 623 -212 623C-238 623 -262 600 -262 571C-262 544 -238 520 -212 520C-183 520 -161 544 -161 571Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M559 271C559 395 493 448 433 448C370 448 304 394 275 297C259 245 235 121 219 37C157 54 113 110 113 201C113 310 180 386 276 429L265 457C131 410 23 326 23 186C23 83 86 5 211 -10C180 -159 167 -220 158 -252L165 -261C198 -255 236 -246 251 -218L287 -5C421 9 559 119 559 271ZM484 273C484 144 400 40 293 33L352 331C364 389 382 406 405 406C431 406 484 370 484 273Z"></path></g></svg> at constant temperature <svg height="12.0575pt" id="M232" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -8.7664 40.5473 12.0575" width="40.5473pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M592 498C586 556 582 629 581 675H560C545 656 537 650 510 650H115C87 650 74 652 60 675H40C38 620 33 555 28 495H57C69 539 77 568 89 585C102 607 122 616 205 616H267V123C267 44 259 34 168 28V0H454V28C360 34 352 44 352 123V616H422C498 616 514 608 531 584C542 568 552 543 562 495L592 498Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.021,3.132)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z"></path></g><g transform="matrix(.013,0,0,-0.013,16.599,0)"><path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,27.862,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z"></path></g><g transform="matrix(.013,0,0,-0.013,34.102,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g></svg>° and load <span class="nowrap"><svg height="8.59437pt" id="M233" style="vertical-align:-0.2063894pt" version="1.1" viewbox="-0.0498162 -8.38798 28.3066 8.59437" width="28.3066pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M495 163C480 117 462 85 444 65C421 39 387 34 332 34C290 34 256 36 236 47C218 57 213 77 213 131V526C213 612 222 616 301 622V650H40V622C122 616 128 611 128 526V126C128 41 120 34 36 28V0H489C498 31 519 126 525 157L495 163Z"></path></g><g transform="matrix(.013,0,0,-0.013,10.626,0)"><path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,21.889,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g></svg>.</span></div>

Journal of Robotics

fig8

Figure 8

Figure 8: Friction Model of Industrial Robot Joint with Temperature Correction by Example of KUKA KR10 