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Journal of Robotics
Volume 2019, Article ID 6931563, 11 pages
Research Article

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

1School of Engineering, Far Eastern Federal University, Vladivostok, 690950, Russia
2Institute of Automation and Control Processes Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, 690950, Russia

Correspondence should be addressed to Maksim N. Nevmerzhitskiy; moc.liamg@remven.mixam

Received 27 October 2018; Revised 24 November 2018; Accepted 17 December 2018; Published 6 January 2019

Academic Editor: Shahram Payandeh

Copyright © 2019 Maksim N. Nevmerzhitskiy et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The quality of industrial robots essentially depends on the properties of their kinematic couples. This research has involved conducting an experimental study of the friction torque in a joint of the KUKA KR10 industrial robot and building its model. It has been established that the largest impact on friction in the joint is caused by its axial load and velocity, as well as the temperature of the mechanism, which is generally not homogeneous. It is not possible to measure temperature fields in the joints of a serial industrial robot directly. This study has set forth a method to estimate friction torque taking into account the temperature factor indirectly. For this, we have used the motor temperature available for measuring in combination with special periodical motions, performed by the robot, during which we estimated the actual friction torque in the joint and calculated a temperature correction based on our findings.