{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T16:09:58Z","timestamp":1777910998180,"version":"3.51.4"},"reference-count":25,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2024,12,2]],"date-time":"2024-12-02T00:00:00Z","timestamp":1733097600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001665","name":"Agence Nationale de la Recherche","doi-asserted-by":"publisher","award":["ANR-2010-SEGI-003-01-COROUSSO"],"award-info":[{"award-number":["ANR-2010-SEGI-003-01-COROUSSO"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2026,2]]},"abstract":"<jats:p>This article presents a dynamic model used in the modelling of heavy-duty robots that is associated with an estimation method to determine the dynamic parameters of the robot and the friction components. The dynamic model considers nonlinear friction effects localised on the motor and joint sides, since the proper operation of the gearbox depends on the friction effects occurring at the input and output of the bearings, as well as the friction in the gearbox due to the gear contact. In this study, two models are evaluated to determine the most effective friction and nonlinear model. First, static models, such as Coulomb friction on the motor and joint sides with 42 parameters, are evaluated. Second, a nonlinear reduction model is tested on the motor side while keeping the same Coulomb friction model on the joint side. Parameter identification is performed using the open-loop method based on the output error with a minimisation criterion in a quadratic form. The maximum number of parameters identified by the open-loop method for the six axes is 42 for the first model and 54 for the second model. To sum up, the second study revealed that embedding the nonlinear reduction model with Coulomb friction into the dynamic model yields better results.<\/jats:p>","DOI":"10.1177\/01423312241286930","type":"journal-article","created":{"date-parts":[[2024,12,3]],"date-time":"2024-12-03T02:16:22Z","timestamp":1733192182000},"page":"597-605","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Friction modelling and parameter estimation for heavy-duty robots"],"prefix":"10.1177","volume":"48","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5299-8453","authenticated-orcid":false,"given":"Ioana Corina","family":"Bogdan","sequence":"first","affiliation":[{"name":"Department of Electronics and Computers, Transilvania University of Brasov, Brasov, Romania"}]},{"given":"Gabriel","family":"Abba","sequence":"additional","affiliation":[{"name":"Design Manufacturing and Control Lab, Arts and Metiers Institute of Technology, Universite de Lorraine, Metz, Grand Est, France"}]}],"member":"179","published-online":{"date-parts":[[2024,12,2]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008820525412"},{"key":"e_1_3_3_3_1","article-title":"Modeling of frictions in the transmission elements of a robot axis for its identification","author":"Abba G","year":"2005","unstructured":"Abba G, Sardain P (2005) Modeling of frictions in the transmission elements of a robot axis for its identification. 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