Friction model of a robot joint considering torque and moment loads

Tae Jung Kim, Kuk Hyun Ahn, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


The friction generated in a robot joint acts as a disturbance in a control system, which affects the control performance. Therefore, in most robots, friction is compensated for by adding the estimated friction value in the control input based on the friction model. Thus, the more accurate the friction model, the better the control performance of the robot. In this study, the friction that occurred differently owing to the torque and moment loads caused by the robot links were analyzed. Through the analysis, a friction model that included the effects of torque and moment loads from the robot links was developed to improve the conventional friction model based on only the Coulomb friction and viscous friction. The proposed friction model was verified experimentally by applying the model to a 7DOF collaborative robot.

Original languageEnglish
Pages (from-to)27-34
Number of pages8
JournalTransactions of the Korean Society of Mechanical Engineers, A
Issue number1
Publication statusPublished - 2021


  • Friction Model
  • Moment Load
  • Robot Joint
  • Torque Load

ASJC Scopus subject areas

  • Mechanical Engineering


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