DocumentCode :
1178650
Title :
Manipulator velocity control using friction compensation
Author :
Moreno, J. ; Kelly, R. ; Campa, R.
Author_Institution :
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
Volume :
150
Issue :
2
fYear :
2003
fDate :
3/1/2003 12:00:00 AM
Firstpage :
119
Lastpage :
126
Abstract :
The velocity control of a direct-drive mechanical arm with high friction is considered. The friction at the robot joints is assumed to be captured by a bristle deflection model. Two joint velocity controllers with friction compensation are introduced. Experiments show the superiority of the proposed schemes with respect to the velocity controllers when friction is compensated using the classical viscous plus Coulomb model of friction.
Keywords :
closed loop systems; compensation; eigenvalues and eigenfunctions; friction; manipulator dynamics; two-term control; velocity control; PD control; bristle deflection model; closed-loop system; direct-drive mechanical arm; dynamics; eigenvalues; friction compensation; manipulator; velocity control;
fLanguage :
English
Journal_Title :
Control Theory and Applications, IEE Proceedings -
Publisher :
iet
ISSN :
1350-2379
Type :
jour
DOI :
10.1049/ip-cta:20030083
Filename :
1193587
Link To Document :
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