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
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