Title :
Friction compensation of an X-Y robot using a Recursive Model Free Controller
Author :
Wang, Haoping ; Vasseur, Christian ; Koncar, Vladan
Author_Institution :
LAGIS, Univ. de Lille 1, Villeneuve d´´Ascq, France
Abstract :
In this paper, a friction compensation scheme for an X-Y robot´s model linearization via a Recursive Model Free Controller (RMFC) is proposed. In this scheme, the RMFC uses only the robot´s position measurement for feedback and doesn´t require knowledge of electromechanical system´s parameters, such as parameters in the friction model, rotor inertia, etc. The effectiveness and robustness of the proposed method is experimented on real time X-Y robot system.
Keywords :
friction; linearisation techniques; motion control; position control; position measurement; real-time systems; robot dynamics; electromechanical system parameter; friction compensation; model linearization; real time X-Y robot system; recursive model free controller; robot position measurement; Control systems; Delay effects; Feedback; Friction; Mechanical systems; Personal communication networks; Position measurement; Real time systems; Robots; Sampling methods;
Conference_Titel :
Industrial Technology (ICIT), 2010 IEEE International Conference on
Conference_Location :
Vina del Mar
Print_ISBN :
978-1-4244-5695-6
Electronic_ISBN :
978-1-4244-5696-3
DOI :
10.1109/ICIT.2010.5472706
