Adaptive friction compensation for industrial robot control

Author

Visioli, Antonio ; Adamini, Riccardo ; Legnani, Giovanni

Author_Institution

Dipartimento di Elettronica per l´´Autom., Brescia Univ., Italy

Volume

1

fYear

2001

fDate

2001

Firstpage

577

Abstract

We deal with the friction compensation in the model-based trajectory tracking control of an industrial robot manipulator. First it is shown that the variations of the friction term might significantly affect the control performances during the robot operations. Then, a simple adaptive scheme is proposed to solve the problem, allowing us to keep the trajectory tracking errors at a constant low level. Experimental results, obtained in a typical industrial environment, show the effectiveness of the method and how it is comparable with known neural-network-based techniques

Keywords

MIMO systems; compensation; friction; gradient methods; identification; industrial manipulators; model reference adaptive control systems; nonlinear control systems; position control; adaptive friction compensation; control performances; industrial robot control; industrial robot manipulator; model-based trajectory tracking control; Adaptive control; Friction; Industrial control; Manipulator dynamics; Polynomials; Programmable control; Robot control; Robot kinematics; Service robots; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on

Conference_Location

Como

Print_ISBN

0-7803-6736-7

Type

conf

DOI

10.1109/AIM.2001.936528

Filename

936528