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

Algorithm 1

Pseudocode for experiments robot motion on different velocities.

Inputs:

velocity = [] // vector of velocity values, deg/s

// control torque,

// joint angular position, deg/s

Outputs:

joint angular velocity, deg/s

// control torque until mowing clockwise,

// control torque until mowing counterclockwise,

// friction torque,

// load torque,

// motor temperature, °C

// CYCLE OF CHANGING VELOCITY VALUES

for i = 1 to length(velocity) step 1

= velocity[i] // assigning the velocity value to the robot joint velocity

Moving to = 180.0 // joint clockwise motion

// assigning until mowing clockwise

Moving to = 0.0 // joint counterclockwise motion

// assigning until mowing counterclockwise

and calculating by eq. (8)

data measuring

end for