Friction modeling and identification for industrial manipulators

The paper is focused on the development of an adequate model of the friction acting on the joints of an industrial manipulator, suitable to be used for simulation and control purposes. The experimental tests required for the identification are executable via the standard interface for the robot programming, without any change in the path planning procedure or in the robot control. The proposed friction model is developed and validated for the six-dof Comau SMART NS12 manipulator