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.
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页码：340 / 346
页数：7
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