| Inputs: |
| // joint angular position, deg/s |
| joint angular velocity, deg/s |
| // joint angular velocity value for temperature adjustment, deg/s |
| // motor temperature, °C |
| // time of robot’s control program executing, s |
| // time parameter, upon expiration of which temperature correction is |
| made forcibly, s |
| // identified parameters of friction function eq. (16) |
| // periodicity criterion parameter |
| Outputs: |
| // time which it takes the motor temperature to change by °C, s |
| // adaptation time parameter, s |
| // motor temperature at time , °C |
| // friction torque at time , |
| // load torque at time , |
| // temperature parameter at time , °C |
| // temperature correction at time , °C |
| // friction torque, |
| // ROBOT’S CONTROL PROGRAM CYCLE |
| while robot’s control program executing |
| // Temperature change monitoring cycle |
| if >= 1 // if motor temperature changed by °C |
| // time for temperature change |
| end if |
| // Temperature parameter adjustment cycle |
| if 0 or // compliance of heuristic periodicity criterion eq. (20) |
| Pause of robot’s control program executing |
| // rewriting temporary variable |
| // ascending time value to adaptation time parameter |
| // assigning the velocity value for 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) |
| by eq. (18) // temperature parameter adjustment |
| // temperature correction calculation by eq. (19) |
| end if |
| // temperature parameter calculation online by eq. (17) |
| by eq. (16) // friction torque estimation online using with temperature |
| correction calculated after adjustment cycle |
| Motions of robot’s control program executing |
| end while |
