Friction compensation with estimated velocity

Author

Zhang, Y. ; Liu, G. ; Goldenberg, A.A.

Author_Institution

Robotics & Autom. Lab., Toronto Univ., Ont., Canada

Volume

3

fYear

2002

fDate

2002

Firstpage

2650

Lastpage

2655

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013631

Filename

1013631