Title :
Manipulator velocity control using friction compensation
Author :
Moreno, J. ; Kelly, R. ; Campa, R.
Author_Institution :
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
fDate :
3/1/2003 12:00:00 AM
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;
Journal_Title :
Control Theory and Applications, IEE Proceedings -
DOI :
10.1049/ip-cta:20030083