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
  • [41] Friction Compensation based Acceleration Feedback Control for Flight Simulator
    Shen, Dongkai
    Liu, Zhenghua
    Liu, Shizhang
    MANUFACTURING ENGINEERING AND AUTOMATION I, PTS 1-3, 2011, 139-141 : 1702 - +
  • [42] Trajectory Friction Compensation Algorithm for Robots Based on Velocity Control
    Ye B.
    Li S.
    Tan S.
    Li X.
    Jin X.
    Shao B.
    Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science), 2024, 52 (04): : 51 - 58
  • [43] Friction compensation control method for a typical excavator system based on the accurate friction model
    Feng, Hao
    Chang, Xiaodan
    Jiang, Jinye
    Yin, Chenbo
    Cao, Donghui
    Li, Chunbiao
    Xie, Jiaxue
    EXPERT SYSTEMS WITH APPLICATIONS, 2024, 254
  • [44] Robust control for robot with friction
    College of Information and Electrical Engineering, Shandong University of Science and Technology, Qingdao 266510, China
    Jixie Gongcheng Xuebao, 2007, 9 (102-106):
  • [45] Pose regulation of robot manipulators with dynamic friction compensation
    Moreno, Javier
    Kelly, Rafael
    2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8, 2005, : 4368 - 4372
  • [46] ADAPTIVE FRICTION COMPENSATION IN ROBOT MANIPULATORS - LOW VELOCITIES
    DEWIT, CC
    NOEL, P
    AUBIN, A
    BROGLIATO, B
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1991, 10 (03): : 189 - 199
  • [47] Adaptive model predictive control for an omnidirectional mobile robot with friction compensation and incremental input constraints
    Ren, Chao
    Li, Chunli
    Hu, Liang
    Li, Xiaohan
    Ma, Shugen
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2022, 44 (04) : 835 - 847
  • [48] Robust control for robot with friction based on linear state equation
    Zhou, Jinglei
    Zhang, Weihai
    ISDA 2006: SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS DESIGN AND APPLICATIONS, VOL 2, 2006, : 243 - +
  • [49] On velocity control using friction compensation
    Moreno, J
    Kelly, R
    Campa, R
    PROCEEDINGS OF THE 41ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 2002, : 95 - 100
  • [50] Adaptive control techniques for friction compensation
    Feemster, M
    Vedagarbha, P
    Dawson, DM
    Haste, D
    MECHATRONICS, 1999, 9 (02) : 125 - 145
12345