{"id":"https://openalex.org/W3157568491","doi":"https://doi.org/10.1109/access.2021.3076308","title":"Passivity Guaranteed Dynamic Friction Model With Temperature and Load Correction: Modeling and Compensation for Collaborative Industrial Robot","display_name":"Passivity Guaranteed Dynamic Friction Model With Temperature and Load Correction: Modeling and Compensation for Collaborative Industrial Robot","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3157568491","doi":"https://doi.org/10.1109/access.2021.3076308","mag":"3157568491"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3076308","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3076308","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09417160.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09417160.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079966429","display_name":"Meseret Tadese","orcid":"https://orcid.org/0000-0003-3016-210X"},"institutions":[{"id":"https://openalex.org/I4537092","display_name":"Addis Ababa University","ror":"https://ror.org/038b8e254","country_code":"ET","type":"education","lineage":["https://openalex.org/I4537092"]},{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["ET","KR"],"is_corresponding":false,"raw_author_name":"Meseret Abayebas Tadese","raw_affiliation_strings":["School of Electrical and Computer Engineering, Addis Ababa Institute of Technology, Addis Ababa University, Addis Ababa, Ethiopia","Sungkyunkwan University, Suwon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-3016-210X","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Addis Ababa Institute of Technology, Addis Ababa University, Addis Ababa, Ethiopia","institution_ids":["https://openalex.org/I4537092"]},{"raw_affiliation_string":"Sungkyunkwan University, Suwon, Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053120188","display_name":"Francisco Yumbla","orcid":"https://orcid.org/0000-0003-4220-010X"},"institutions":[{"id":"https://openalex.org/I2135383","display_name":"Escuela Superior Politecnica del Litoral","ror":"https://ror.org/04qenc566","country_code":"EC","type":"education","lineage":["https://openalex.org/I2135383"]},{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["EC","KR"],"is_corresponding":false,"raw_author_name":"Francisco Yumbla","raw_affiliation_strings":["Faculty of Mechanical and Production Sciences Engineering, ESPOL Polytechnic University, Guayaquil, Ecuador","Sungkyunkwan University, Suwon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Production Sciences Engineering, ESPOL Polytechnic University, Guayaquil, Ecuador","institution_ids":["https://openalex.org/I2135383"]},{"raw_affiliation_string":"Sungkyunkwan University, Suwon, Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048032432","display_name":"June-Sup Yi","orcid":"https://orcid.org/0000-0001-5620-2929"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"June-Sup Yi","raw_affiliation_strings":["Sungkyunkwan University, Suwon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sungkyunkwan University, Suwon, Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008476367","display_name":"Woongyong Lee","orcid":"https://orcid.org/0000-0003-1263-082X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Woongyong Lee","raw_affiliation_strings":["Neuromeka, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuromeka, Seoul, South Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101407470","display_name":"Jonghoon Park","orcid":"https://orcid.org/0000-0002-0971-3002"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jonghoon Park","raw_affiliation_strings":["Neuromeka, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuromeka, Seoul, South Korea","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055372260","display_name":"Hyungpil Moon","orcid":"https://orcid.org/0000-0002-1091-0716"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungpil Moon","raw_affiliation_strings":["Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-1091-0716","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Sungkyunkwan University, Suwon, Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.944,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.85779039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"71210","last_page":"71221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.727785587310791},{"id":"https://openalex.org/keywords/dynamical-friction","display_name":"Dynamical friction","score":0.6538625955581665},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6202132701873779},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6171850562095642},{"id":"https://openalex.org/keywords/friction-torque","display_name":"Friction torque","score":0.580501139163971},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5795654058456421},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4853285849094391},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.43529850244522095},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3271487355232239},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25090649724006653},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.17898067831993103},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17633500695228577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13797980546951294},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08086413145065308}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.727785587310791},{"id":"https://openalex.org/C3038340","wikidata":"https://www.wikidata.org/wiki/Q1268968","display_name":"Dynamical friction","level":2,"score":0.6538625955581665},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6202132701873779},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6171850562095642},{"id":"https://openalex.org/C163274877","wikidata":"https://www.wikidata.org/wiki/Q5503435","display_name":"Friction torque","level":3,"score":0.580501139163971},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5795654058456421},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4853285849094391},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.43529850244522095},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3271487355232239},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25090649724006653},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.17898067831993103},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17633500695228577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13797980546951294},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08086413145065308},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3076308","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3076308","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09417160.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:84312c6af147475590c14825e4a02d02","is_oa":true,"landing_page_url":"https://doaj.org/article/84312c6af147475590c14825e4a02d02","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 71210-71221 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3076308","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3076308","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09417160.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4385117555","display_name":null,"funder_award_id":"10077538","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3157568491.pdf","grobid_xml":"https://content.openalex.org/works/W3157568491.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W52467820","https://openalex.org/W169326478","https://openalex.org/W175962302","https://openalex.org/W1445773665","https://openalex.org/W1562631035","https://openalex.org/W1602498161","https://openalex.org/W1817848253","https://openalex.org/W1843163787","https://openalex.org/W2011262671","https://openalex.org/W2017432759","https://openalex.org/W2040011139","https://openalex.org/W2048583840","https://openalex.org/W2073898625","https://openalex.org/W2086312123","https://openalex.org/W2091351095","https://openalex.org/W2091881639","https://openalex.org/W2095477585","https://openalex.org/W2103065656","https://openalex.org/W2109170372","https://openalex.org/W2109453777","https://openalex.org/W2110227823","https://openalex.org/W2116028483","https://openalex.org/W2122123265","https://openalex.org/W2128569793","https://openalex.org/W2128722009","https://openalex.org/W2131245153","https://openalex.org/W2144556291","https://openalex.org/W2145190815","https://openalex.org/W2149334481","https://openalex.org/W2160192576","https://openalex.org/W2163267653","https://openalex.org/W2166271005","https://openalex.org/W2260329616","https://openalex.org/W2607714105","https://openalex.org/W2766524111","https://openalex.org/W2891148978","https://openalex.org/W2964225632","https://openalex.org/W3032813070","https://openalex.org/W6606863368","https://openalex.org/W6679220672","https://openalex.org/W6681467821"],"related_works":["https://openalex.org/W2171573194","https://openalex.org/W4308701411","https://openalex.org/W2005443785","https://openalex.org/W2390277023","https://openalex.org/W2182470545","https://openalex.org/W2059087667","https://openalex.org/W2372125609","https://openalex.org/W2329345799","https://openalex.org/W2001512893","https://openalex.org/W2370274543"],"abstract_inverted_index":{"In":[0,148],"this":[1],"paper,":[2],"a":[3,10,53,69,93,163],"new":[4,45,154],"comprehensive":[5],"dynamic":[6],"friction":[7,29,59,101,111,136,145,181],"model":[8,80,87,137],"for":[9],"collaborative":[11,95],"industrial":[12],"robot":[13,96,109],"joint":[14,159],"that":[15],"considers":[16],"the":[17,31,36,74,77,99,125,134,140,144,149,153,176,179],"velocity,":[18],"temperature,":[19],"and":[20,40,56,84,113],"load":[21],"torque":[22],"is":[23,42,49,64],"proposed.":[24],"The":[25,44,79],"variation":[26],"of":[27,38,68,76,86,178],"load-dependent":[28],"among":[30],"four-quadrant":[32],"operation":[33],"depending":[34],"on":[35,92],"sign":[37],"load-torque":[39],"speed":[41],"studied.":[43],"model\u2019s":[46,102],"passivity":[47],"property":[48],"analyzed":[50],"to":[51,129,139,170],"obtain":[52],"physically":[54],"meaningful":[55],"experimentally":[57,91],"identified":[58],"model.":[60,78,182],"A":[61],"sufficient":[62],"condition":[63],"presented":[65],"in":[66,106,124,143,162,166],"terms":[67],"simple":[70],"algebraic":[71],"inequality":[72],"involving":[73],"parameters":[75],"parameter":[81],"identification":[82],"procedure":[83],"validation":[85],"effectiveness":[88],"are":[89,104],"demonstrated":[90,105],"commercial":[94],"manipulator.":[97],"Moreover,":[98],"proposed":[100,135,180],"benefits":[103],"two":[107],"different":[108],"applications:":[110],"compensation":[112,146],"direct":[114,150],"teaching":[115,151],"(smooth":[116],"lead-through":[117],"programming)":[118],"applications.":[119],"Significant":[120],"tracking":[121],"performance":[122,177],"improvement":[123],"root-mean-square":[126],"errors":[127],"up":[128,169],"76%":[130],"was":[131],"achieved":[132],"with":[133],"compared":[138],"uncompensated":[141],"cases":[142],"application.":[147],"application,":[152],"model,":[155],"which":[156],"precisely":[157],"estimates":[158],"friction,":[160],"results":[161,174],"significant":[164],"decrease":[165],"interaction":[167],"forces":[168],"66%.":[171],"These":[172],"experimental":[173],"validate":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
