Nonlinear friction compensation in mechatronic servo systems

被引：0
|
作者：
Mei, Zhi-Qian [1 ]
Xue, Yun-Can [2 ]
Yang, Ru-Qing [3 ]
机构：
[1] College of Mechanical and Electronic Engineering, Hohai University, Changzhou, 213022, China
[2] College of Computer and Information Engineering, Hohai University, Changzhou, 213022, China
[3] Research Institute of Robotics, Shanghai Jiaotong University, Shanghai, 200030, China
来源：
International Journal of Advanced Manufacturing Technology | 2006年 / 30卷 / 7-8期
关键词：
Friction; especially its nonlinear component; may degrade the tracking performance of robots. Based on Kang's method; a novel compensation method for nonlinear friction is presented in this paper; which modified Southward's traditional compensation method for nonlinear friction. The stability of the systems which adopt the novel compensation method is proved with Layapunov's stability theorem; and is enhanced further. Having estimated the nonlinear friction model using an identification method; the effect caused by its nonlinear component can be compensated; and enhanced tracking performance is verified under the SCARA robot experimental platform using Windows NT and VenturCom's real-time extension module (RTX) environment;
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学科分类号：
摘要：
Journal article (JA)
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页码：693 / 699
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