DocumentCode :
1059099
Title :
Velocity controller with friction compensation
Author :
Herman, P.
Author_Institution :
Poznan Univ. of Technol.
Volume :
1
Issue :
1
fYear :
2007
fDate :
1/1/2007 12:00:00 AM
Firstpage :
238
Lastpage :
243
Abstract :
The problem of velocity control concerning a manipulator arm is considered. It is assumed that the joint friction is described by a model that contains the Dahl effect. A joint velocity controller and a friction observer are expressed in terms of the normalised quasi-velocities (NQV). The controller with the observer is shown to be exponentially convergent. Some properties arising from the use of NQV are presented. The control strategy, including the friction observer, was tested in simulation on a 3 d.o.f. 3D, Direct Drive Arm robot.
Keywords :
friction; manipulators; observers; velocity control; Dahl effect; Direct Drive Arm robot; friction compensation; friction observer; joint friction; manipulator arm; normalised quasi-velocities; velocity control;
fLanguage :
English
Journal_Title :
Control Theory & Applications, IET
Publisher :
iet
ISSN :
1751-8644
Type :
jour
DOI :
10.1049/iet-cta:20050101
Filename :
4079577
Link To Document :
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