Robot Friction Force Compensation Algorithm Integrating Temperature and Speed Factors

Authors

• Jinwang Lü, Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China; Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China
• Ankai Ying, Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China; Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China
• Ming Li, Ningbo No. 6 Hospital, Ningbo 315040, China
• Tao Song, Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China; Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China
• Jie Zhang, Binjiang Institute of Zhejiang University, Hangzhou 310053, China
• Fanghui Qiu, Affiliated Hangzhou First People's Hospital, School of Medicine, Westlake University, Hangzhou 310030, China
• Changcheng Shi, Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China; Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China; University of Chinese Academy of Sciences, Beijing 101408, China
• Guokun Zuo, Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China; Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China; University of Chinese Academy of Sciences, Beijing 101408, China
• Jialin Xu, Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China; Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China; University of Chinese Academy of Sciences, Beijing 101408, China

Abstract

Insufficient friction force compensation accuracy degrades motion smoothness, stability, and assistive compliance of elbow joint rehabilitation robots. To address this issue, an improved Stribeck friction force model integrating temperature and speed factors was proposed. The model employed an exponentially decaying friction factor to describe the characteristic that the increase rate of friction force slowed down with the rise of the robot's operating speed and designed a viscous function considering temperature effects to suppress friction force fluctuations caused by temperature changes. Experimental results indicate that the model achieves stable friction force compensation under different operating states of the robot and has strong temperature adaptability. Frequency response analysis confirms that the model improves the steady-state tracking accuracy, disturbance resistance, and robustness of the robot.

Recommended Citation

Lü, Jinwang; Ying, Ankai; Li, Ming; Song, Tao; Zhang, Jie; Qiu, Fanghui; Shi, Changcheng; Zuo, Guokun; and Xu, Jialin (2026) "Robot Friction Force Compensation Algorithm Integrating Temperature and Speed Factors," Journal of System Simulation: Vol. 38: Iss. 6, Article 18.
DOI: 10.16182/j.issn1004731x.joss.25-0725
Available at: https://dc-china-simulation.researchcommons.org/journal/vol38/iss6/18

First Page

1722

Last Page

1733

CLC

TP241.2; TP391.9

Recommended Citation

Lü Jinwang, Ying Ankai, Li Ming, et al. Robot Friction Force Compensation Algorithm Integrating Temperature and Speed Factors[J]. Journal of System Simulation, 2026, 38(6): 1722-1733.

Corresponding Author

Xu Jialin

DOI

10.16182/j.issn1004731x.joss.25-0725