Thermal effects in identifying the dynamic parameters of an industrial robot

This work describes the influence of temperature on the identification of the dynamic model of an industrial manipulator. The tests show that the joint friction changes during the robot operation. The variation is due to the heat generated by friction. A model is used to estimate the temperature and related friction variation. Experimental data collected on an industrial robot are discussed. Repetitive tests performed on different days showed that the inertial and friction parameters can be robustly estimated.