Obsever based friction compensation in robot control

被引：0
|
作者：
Mu, DJ [1 ]
Wang, HR [1 ]
Wang, X [1 ]
Wei, LX [1 ]
机构：
[1] YanShan Univ, Inst Mech & Elect Engn, Qingdao 066004, Peoples R China
来源：
PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7 | 2004年
关键词：
adaptive control; friction compensation; observer; robust control;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Feed forward friction compensation is carried out based on LuGre friction model. An observer observes the undetectable presliding displacement and low speed. Friction parameters and linearized robot parameters are identified according to an adaptive stratagem. A PD + feed forward robust control law is employed to ensure three kinds of stable results of the robot system. Proof is given for the stability of the system. The friction compensation enhanced the performance at low velocity. Simulation results verified the efficiency of the method.
引用
收藏
页码：401 / 405
页数：5
相关论文
共 50 条
  • [1] Adaptive friction compensation for industrial robot control
    Visioli, A
    Adamini, R
    Legnani, G
    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II, 2001, : 577 - 582
  • [2] Passivity Based Control of Flexible Joint Robot with Dynamic Friction Compensation
    Zhang, Qi
    Xie Zongwu
    Kui, Sun
    Yang, Haitao
    Jin, Minghe
    Cai, Hegao
    2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2014, : 4326 - 4332
  • [3] ESO Based Model Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation
    Ren, Chao
    Liu, Rui
    Ma, Shugen
    Hu, Chaofang
    Cao, Lei
    2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 3943 - 3948
  • [4] Observer-based friction compensation in heavy-duty parallel robot control
    Sancak, Kamil Vedat
    Bayraktaroglu, Zeki Yagiz
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2021, 35 (08) : 3693 - 3704
  • [5] A RELAY-BASED APPROACH FOR ROBOT MOTION CONTROL WITH JOINT FRICTION AND GRAVITY COMPENSATION
    Liu, Jia
    Wu, Jianhua
    Xiong, Zhenhua
    Zhu, Xiangyang
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2011, 8 (04) : 673 - 690
  • [6] Observer-based friction compensation in heavy-duty parallel robot control
    Kamil Vedat Sancak
    Zeki Yagiz Bayraktaroglu
    Journal of Mechanical Science and Technology, 2021, 35 : 3693 - 3704
  • [7] Composite Learning Robot Control With Friction Compensation: A Neural Network-Based Approach
    Guo, Kai
    Pan, Yongping
    Yu, Haoyong
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2019, 66 (10) : 7841 - 7851
  • [8] Trajectory Tracking Control of an Omnidirectional Mobile Robot with Friction Compensation
    Ren, Chao
    Ma, Shugen
    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), 2016, : 5361 - 5366
  • [9] Decoupling Control and Friction Compensation for Robot with Elastic Coupled Joints
    Le-Tien, Luc
    Albu-Schaeffer, Alin
    Janschek, Klaus
    Hirzinger, Gerd
    AT-AUTOMATISIERUNGSTECHNIK, 2010, 58 (09) : 499 - 511
  • [10] Robust adaptive friction compensation for tracking control of robot manipulators
    Tomei, P
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2000, 45 (11) : 2164 - 2169
12345