DocumentCode
292423
Title
Joint stick-slip friction compensation for robotic manipulators by iterative learning
Author
Liu, Jing-Sin
Author_Institution
Inst. of Inf. Sci., Acad. Sinica, Nankang, Taiwan
Volume
1
fYear
1994
fDate
12-16 Sep 1994
Firstpage
502
Abstract
This paper studies the compensation of internal joint stick-slip friction effects for desired trajectory tracking of robotic manipulators. A PD type iterative learning control, which incorporates a stabilizing feedback control for robot dynamics, is applied to compensate for the friction. Simulations of a two-link robotic manipulator show that our friction compensation scheme is effective for different friction models whose characteristics are not exactly known a priori
Keywords
compensation; dynamics; force control; friction; intelligent control; iterative methods; learning (artificial intelligence); manipulators; tracking; two-term control; PD control; dynamics; iterative learning control; joint stick-slip friction compensation; robotic manipulators; trajectory tracking; Feedback control; Force control; Friction; Lubrication; Manipulator dynamics; Motion control; Robot motion; Steady-state; Tracking; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location
Munich
Print_ISBN
0-7803-1933-8
Type
conf
DOI
10.1109/IROS.1994.407431
Filename
407431
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