DocumentCode
306257
Title
Adaptive control strategies for rigid robots to reduce harmonic content of driving torque and compensate coulomb friction
Author
Alonge, F. ; Raimondi, T. ; D´Ippolito, F.
Author_Institution
Fac. of Eng., Palermo Univ., Italy
Volume
1
fYear
1996
fDate
5-10 Aug 1996
Firstpage
202
Abstract
This paper deals with design of adaptive control laws for robotic manipulators suitable for trajectory tracking tasks. Principal objectives pursued are to cope with velocity data corrupted by noise, and adaptive coulomb friction compensation. Experimental findings are shown to verify attainment of the above objectives
Keywords
adaptive control; compensation; friction; harmonics; manipulators; path planning; position control; torque; adaptive control; adaptive control laws; corrupted velocity data; coulomb friction compensation; driving torque; harmonic content reduction; rigid robots; robotic manipulators; trajectory tracking; Adaptive control; Friction; Manipulator dynamics; Mathematical model; Power harmonic filters; Robotics and automation; Robots; Torque control; Trajectory; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location
Taipei
Print_ISBN
0-7803-2775-6
Type
conf
DOI
10.1109/IECON.1996.570953
Filename
570953
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