Joint torque servo of a high friction robot manipulator based on time-delay control with feed-forward friction compensation

Author

Hur, Sung-moon ; Kim, Sung-Kyun ; Oh, Yonghwan ; Oh, Sang-Rok

Author_Institution

Korea Inst. of Sci. & Technol., Seoul, South Korea

fYear

2012

fDate

9-13 Sept. 2012

Firstpage

37

Lastpage

42

Abstract

This paper addresses a torque control method in a high friction robot manipulator. A stiction feed-forward compensator is proposed to eliminate the control problem caused by the nonlinear friction and disturbance. In order to control a robot manipulator with unknown effects, a time-delay control method is used to control the torque. One degree of freedom flexible joint robot manipulator with a joint torque sensor is used to show the performance of the proposed control method.

Keywords

compensation; delays; feedforward; manipulators; nonlinear control systems; sensors; service robots; stiction; torque control; 1DoF flexible joint robot manipulator; control problem elimination; feed-forward friction compensation; high friction robot manipulator; joint torque sensor; joint torque servo; nonlinear disturbance; nonlinear friction; service robot technology; stiction feed-forward compensator; time-delay control method; torque control method; Friction; Joints; Manipulator dynamics; Robot sensing systems; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

RO-MAN, 2012 IEEE

Conference_Location

Paris

ISSN

1944-9445

Print_ISBN

978-1-4673-4604-7

Electronic_ISBN

1944-9445

Type

conf

DOI

10.1109/ROMAN.2012.6343728

Filename

6343728