Nonlinear friction compensation of a 2-DOF planar parallel manipulator

被引：50
|
作者：
Shang, Weiwei [1 ]
Cong, Shuang [1 ]
Zhang, Yaoxin [1 ]
机构：
[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Anhui, Peoples R China
来源：
MECHATRONICS | 2008年 / 18卷 / 07期
基金：
中国国家自然科学基金;
关键词：
parallel manipulator; nonlinear friction; friction compensation; identification; dynamics;
D O I：
10.1016/j.mechatronics.2008.02.004
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The friction compensation method based on a nonlinear friction model is developed for a 2-DOF planar parallel manipulator. This nonlinear friction model enables reconstruction of viscous, Coulomb, and Stribeck friction effects of the parallel manipulator. Identification experiments are carried out, and parameters in the nonlinear friction model are estimated by nonlinear optimization. The dynamic control experiments are designed for the trajectory tracking of the parallel manipulator to study the friction compensation. The friction compensation performances are compared between the Coulomb + viscous friction model and the nonlinear friction model, also, the control performances without the friction compensation are given. Experiment results demonstrate that the tracking accuracy of the parallel manipulator can be improved obviously with the nonlinear friction compensation. (C) 2008 Elsevier Ltd. All rights reserved.
引用
收藏
页码：340 / 346
页数：7
相关论文
共 50 条
  • [31] Modeling and Analysis of a 2-DOF Spherical Parallel Manipulator
    Duan, Xuechao
    Yang, Yongzhi
    Cheng, Bi
    SENSORS, 2016, 16 (09):
  • [32] Numerical and Experimental Analysis of a Parallel 2-DOF Manipulator
    Cardozo, William S.
    Weber, Hans I.
    PROCEEDINGS OF DINAME 2017, 2019, : 253 - 263
  • [33] Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator
    Shang, Weiwei
    Cong, Shuang
    NONLINEAR DYNAMICS, 2010, 59 (1-2) : 61 - 72
  • [34] Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator
    Weiwei Shang
    Shuang Cong
    Nonlinear Dynamics, 2010, 59 : 61 - 72
  • [35] Kinematic Parameters Calibration of Redundant Planar 2-DOF Parallel Manipulator With a New Error Function
    Feng, Chunshi
    Cong, Shuang
    Zhang, Yaoxin
    Li, Zexiang
    Jiang, Silong
    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 426 - +
  • [36] Dynamic analysis of the 2-DOF planar parallel manipulator of a heavy duty hybrid machine tool
    Wu, Jun
    Wang, Jinsong
    Li, Tiemin
    Wang, Liping
    INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2007, 34 (3-4): : 413 - 420
  • [37] Dynamic analysis of the 2-DOF planar parallel manipulator of a heavy duty hybrid machine tool
    Jun Wu
    Jinsong Wang
    Tiemin Li
    Liping Wang
    The International Journal of Advanced Manufacturing Technology, 2007, 34 : 413 - 420
  • [38] A Design of a 2-DoF Planar Parallel Manipulator with an Electro-Pneumatic Servo-Drive
    Takosoglu, Jakub
    Janus-Galkiewicz, Urszula
    Galkiewicz, Jaroslaw
    ENERGIES, 2022, 15 (22)
  • [39] Nonlinear Dual Mode Adaptive Control of PAR2: a 2-dof Planar Parallel manipulator, with Real-time experiments
    Natal, G. Sartori
    Chemori, A.
    Pierrot, F.
    Company, O.
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 2114 - 2119
  • [40] Workspace Analysis of A 2-DOF Planar Parallel Mechanism
    Chen, Y. Y.
    Han, X. Z.
    Gao, F.
    Wei, Z. H.
    Zhang, Y.
    PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON ELECTRICAL, AUTOMATION AND MECHANICAL ENGINEERING (EAME 2015), 2015, 13 : 192 - 195
12345