Title :
Friction compensation with estimated velocity
Author :
Zhang, Y. ; Liu, G. ; Goldenberg, A.A.
Author_Institution :
Robotics & Autom. Lab., Toronto Univ., Ont., Canada
Abstract :
The problem of friction compensation at very low velocity is investigated experimentally. Two published friction compensation strategies, based on two well-known friction models, are evaluated experimentally on a direct drive robot arm. One is an adaptive nonlinear dynamic friction compensation method using the LuGre friction model, and the other is a decomposition-based friction compensation method based on a friction model parameter linearization approach. In the experiments, a new velocity estimation method is implemented. The method significantly improves the effectiveness of friction compensation for all tested methods
Keywords :
adaptive control; compensation; friction; manipulators; nonlinear dynamical systems; position control; LuGre friction model; adaptive control; adaptive nonlinear dynamic friction compensation method; decomposition-based friction compensation method; direct drive robot arm; estimated velocity; parameter linearization approach; Adaptive control; Aerodynamics; Equations; Force control; Friction; Mechanical variables control; Programmable control; Robots; Testing; Uncertainty;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013631
