DocumentCode
1178650
Title
Manipulator velocity control using friction compensation
Author
Moreno, J. ; Kelly, R. ; Campa, R.
Author_Institution
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
Volume
150
Issue
2
fYear
2003
fDate
3/1/2003 12:00:00 AM
Firstpage
119
Lastpage
126
Abstract
The velocity control of a direct-drive mechanical arm with high friction is considered. The friction at the robot joints is assumed to be captured by a bristle deflection model. Two joint velocity controllers with friction compensation are introduced. Experiments show the superiority of the proposed schemes with respect to the velocity controllers when friction is compensated using the classical viscous plus Coulomb model of friction.
Keywords
closed loop systems; compensation; eigenvalues and eigenfunctions; friction; manipulator dynamics; two-term control; velocity control; PD control; bristle deflection model; closed-loop system; direct-drive mechanical arm; dynamics; eigenvalues; friction compensation; manipulator; velocity control;
fLanguage
English
Journal_Title
Control Theory and Applications, IEE Proceedings -
Publisher
iet
ISSN
1350-2379
Type
jour
DOI
10.1049/ip-cta:20030083
Filename
1193587
Link To Document