Method And Control System For Determining Dynamic Friction Torque, And Industrial Robot

Method And Control System For Determining Dynamic Friction Torque, And Industrial Robot

A method for determining a dynamic friction torque of a frictional brake device of a joint of an industrial robot, the method including performing a disengaged brake movement of an electric motor of the joint while the brake device is disengaged; determining a disengaged brake torque value based on...

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Hauptverfasser: Holmner, Josef, Johansson, Görgen
Format: Patent
Sprache:eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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creator Holmner, Josef
Johansson, Görgen
description A method for determining a dynamic friction torque of a frictional brake device of a joint of an industrial robot, the method including performing a disengaged brake movement of an electric motor of the joint while the brake device is disengaged; determining a disengaged brake torque value based on a torque reference of a control loop of the electric motor during the disengaged brake movement; performing an engaged brake movement of the electric motor while the brake device is engaged; determining an engaged brake torque value based on a torque reference of the control loop during the engaged brake movement; and determining the dynamic friction torque of the brake device based on a difference between the engaged brake torque value and the disengaged brake torque value. A control system and an industrial robot are also provided.
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subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title Method And Control System For Determining Dynamic Friction Torque, And Industrial Robot
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