Title :
Observer based friction compensation in robot control
Author :
Mu, De-Jun ; Wang, Hong-rui ; Wang, Xia ; Wei, Li-Xin
Author_Institution :
Inst. of Mech. & Electr. Eng., YanShan Univ., Qinhuangdao, China
Abstract :
Feed forward friction compensation is carried out based on the LuGre friction model. An observer observes the undetectable presliding displacement and low speed. Friction parameters and linearized robot parameters are identified according to an adaptive stratagem. A PD + feed forward robust control law is employed to ensure three kinds of stable results of the robot system. Proof is given for the stability of the system. The friction compensation enhanced the performance at low velocity. Simulation results verified the efficiency of the method.
Keywords :
adaptive control; feedforward; friction; observers; robots; robust control; adaptive control; feed forward friction compensation; feed forward robust control law; observer based friction compensation; presliding displacement; robot control; robust control; stability; Adaptive control; Electronic mail; Feeds; Friction; Programmable control; Robot control; Robust control; Stability; Symmetric matrices; Velocity control;
Conference_Titel :
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN :
0-7803-8403-2
DOI :
10.1109/ICMLC.2004.1380718
