DocumentCode
3549638
Title
Identification and friction compensation for an industrial robot using two degrees of freedom controllers
Author
Vargas, Francisco J T ; De Fieri, E.R. ; Castelan, Eugenio B.
Author_Institution
Dept. of Autom. & Syst., Federal Univ. of Santa Catarina, Florianopolis, Brazil
Volume
2
fYear
2004
fDate
6-9 Dec. 2004
Firstpage
1146
Abstract
In this paper is done the experimental identification of friction parameters in LuGre model using the two degree of freedom controllers (TDOF). With identified parameters, friction compensation is implemented in SCARA industrial robot. For friction compensation is used a velocity observer. Controllers and friction compensation are implemented using the real time language XO/2. Analyses of experimental results for low velocities are presented.
Keywords
friction; identification; industrial manipulators; mechanical variables control; SCARA robot; friction compensation; identification compensation; industrial manipulator robot; velocity observer; Automatic control; Control systems; Electrical equipment industry; Friction; Industrial control; Manipulator dynamics; Nonlinear dynamical systems; Robot control; Robotics and automation; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN
0-7803-8653-1
Type
conf
DOI
10.1109/ICARCV.2004.1469006
Filename
1469006
Link To Document