A Digital Shadow for Accurate Robot Motion Control: Integrating Data with Friction Models

URN to cite this document:: urn:nbn:de:bvb:355-epub-776678
DOI to cite this document:: 10.5283/epub.77667

Heithoff, Malte

; Trinh, Minh ; Michael, Judith

; Rumpe, Bernhard

; Brecher, Christian

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Date of publication of this fulltext: 09 Sep 2025 05:52

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Item type:	Conference or workshop item (UNSPECIFIED)
Date:	9 July 2025
Institutions:	Informatics and Data Science > General computer science > Chair of Programming and Software Engineering (Prof. Dr. Judith Michael)
Projects (Historical):	DFG EXC 2023 Internet of Production - 390621612
Keywords:	Digital Shadow, Industrial Robot, Joint Friction, Asset Administration Shell, SysML, Model-based Software Engineering
Dewey Decimal Classification:	000 Computer science, information & general works > 004 Computer science 600 Technology > 600 Technology (Applied sciences) 600 Technology > 620 Engineering & allied operations 600 Technology > 670 Manufacturing
Status:	In Press
Refereed:	Yes, this version has been refereed
Created at the University of Regensburg:	Partially
Item ID:	77667

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Abstract

Industrial robots often experience significant inaccuracies in their movements due to joint friction, which is challenging to model accurately as it depends on various factors such as load, temperature, and time. Within this paper, we investigate the research question how analytical (white-box) and data-driven (black-box) friction models can be effectively combined with live data during the ...