DocumentCode
2534777
Title
Application of nonlinear friction compensation to robot arm control
Author
Kubo, Tomoaki ; Anwar, George ; Tomizuka, Masayoshi
Author_Institution
University of California, Berkeley, California
Volume
3
fYear
1986
fDate
31503
Firstpage
722
Lastpage
727
Abstract
This paper deals with a design of a digital servo controller for a robot manipulator with mechanical nonlinearities. The experimental system is a D.C. motor driven manipulator arm. A model to predict the nonlinear behavior exhibited by the experimental system and a nonlinear controller with Coulomb friction compensator are developed and tested. The effectiveness of the nonlinear controller is certified by designing a linear tracking controller based on this scheme. Experimental and simulated responses are given.
Keywords
Control nonlinearities; Digital control; Friction; Manipulators; Nonlinear control systems; Predictive models; Robot control; Servomechanisms; Servomotors; System testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087588
Filename
1087588
Link To Document