Estimation and Compensation of Gravity and Friction Forces for Robot Arms: Theory and Experiments

This paper considers the estimation and compensation of the unknown gravity force and static friction for robot motion control. Utilizing the stability feature of PD set-point control, the estimates of gravity-related parameters and static friction can be solved from two steady state equations obtained by stopping robots at two nonsingular positions. The estimates obtained can then be used to eliminate the position error. Under a mild assumption that the mass center of each robot link is distributed on a straight line connecting two adjacent joints, the gravity force regression matrix becomes upper-triangle which can significantly simplify the algorithm. The positive experimental result obtained for practical verification is also presented.

[1]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[2]  C. Atkeson,et al.  Estimation of inertial parameters of rigid body links of manipulators , 1985, 1985 24th IEEE Conference on Decision and Control.

[3]  Carlos Canudas de Wit,et al.  Adaptive friction compensation in DC motor drives , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[4]  Brian Armstrong,et al.  Friction: experimental determination, modeling and compensation , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[5]  Carlos Canudas de Wit,et al.  A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..

[6]  Carlos Canudas de Wit,et al.  A survey of models, analysis tools and compensation methods for the control of machines with friction , 1994, Autom..

[7]  C. Desoer,et al.  Feedback Systems: Input-Output Properties , 1975 .

[8]  Weiping Li,et al.  Adaptive high-precision control of positioning tables-theory and experiments , 1994, IEEE Trans. Control. Syst. Technol..

[9]  George A. Bekey,et al.  Identification of parameters in models of robots with rotary joints , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[10]  Koichi Osuka,et al.  A New Identification Method for Serial Manipulator Arms , 1984 .

[11]  Ming Liu,et al.  A 3-step set-point control algorithm for robot arms , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[12]  Carlos Canudas de Wit,et al.  Adaptive Friction Compensation in Robot Manipulators: Low Velocities , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[13]  Masayoshi Tomizuka,et al.  Application of nonlinear friction compensation to robot arm control , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[14]  Suguru Arimoto,et al.  Control Theory of Nonlinear Mechanical Systems , 1996 .

[15]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[16]  Suguru Arimoto.  Control Theory of Nonlinear Mechanical Systems , 1996 .

[17]  Masayoshi Tomizuka,et al.  Adaptive Pulse Width Control for Precise Positioning Under the Influence of Stiction and Coulomb Friction , 1988 .

[18]  S. Sastry,et al.  Adaptive Control: Stability, Convergence and Robustness , 1989 .

[19]  Jong-Hwan Kim,et al.  Identification and control of systems with friction using accelerated evolutionary programming , 1996 .

[20]  Jong-Hwan Kim,et al.  Experimental evolutionary programming-based high-precision control , 1997, IEEE Control Systems.

[21]  John Kenneth Salisbury,et al.  The Effect of coulomb friction and stiction on force control , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[22]  Carlos Canudas de Wit.  Experimental Results on Adaptive Friction Compensation in Robot Manipulation: Low Velocities , 1989, ISER.

[23]  Dean Karnopp,et al.  Computer simulation of stick-slip friction in mechanical dynamic systems , 1985 .

[24]  Hamid Nasri,et al.  Parameter estimation of a robotic dynamics model - a statistical approach , 1996, Adv. Robotics.

[25]  Carlos Canudas de Wit,et al.  Robot parameter identification via sequential hybrid estimation algorithm , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.