Title :
Experimental evaluation of low velocity friction compensation techniques in robotics
Author :
Adams, John D B ; Payandeh, Shahram
Author_Institution :
Exp. Robotics Lab., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
A study of different classes of controllers for mechanisms under the influence of low velocity friction is conducted. Many methods are proposed in the literature for friction compensation, but there has been no significant analysis of these methods with respect to each other. Also lacking in the literature is some form of categorization, under which it is possible to describe and study their performance. This paper provides an experimental and analytic study of controllers previously proposed for low velocity friction compensation. Some simulations are also performed to show the effect of certain system parameters on the performance of these controllers
Keywords :
compensation; force control; friction; piecewise-linear techniques; robots; three-term control; two-term control; PD control; PID control; categorization; friction compensation; linear control; nonlinear control; piecewise linear control; robotics; Damping; Ear; Friction; History; Mathematical model; Motion control; Numerical simulation; Robots; Torque; Velocity control;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.538020
