Manipulator velocity control using friction compensation

The velocity control of a direct-drive mechanical arm with high friction is considered. The friction at the robot joints is assumed to be captured by a bristle deflection model. Two joint velocity controllers with friction compensation are introduced. Experiments show the superiority of the proposed schemes with respect to the velocity controllers when friction is compensated using the classical viscous plus Coulomb model of friction.

[1]  Henrik Olsson,et al.  Control Systems with Friction , 1996 .

[2]  Bernard Friedland,et al.  Implementation of a friction estimation and compensation technique , 1997 .

[3]  Mark W. Spong,et al.  An experimental comparison of robust control algorithms on a direct drive manipulator , 1996, IEEE Trans. Control. Syst. Technol..

[4]  Rafael Kelly,et al.  A measurement procedure for viscous and coulomb friction , 2000, IEEE Trans. Instrum. Meas..

[5]  C. Canudas-de-Wit.  Comments on "A new model for control of systems with friction" , 1998, IEEE Trans. Autom. Control..

[6]  Takeo Kanade,et al.  Control of a Direct-Drive Arm , 1983 .

[7]  Carlos Canudas de Wit,et al.  Theory of Robot Control , 1996 .

[8]  C. A. Desoer,et al.  Nonlinear Systems Analysis , 1978 .

[9]  Klas Nilsson,et al.  Industrial Robot Programming , 1996 .

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

[11]  Romeo Ortega,et al.  Necessary and sufficient conditions for passivity of the LuGre friction model , 2000, IEEE Trans. Autom. Control..

[12]  Mark W. Spong,et al.  Comments on "Adaptive manipulator control: a case study" by J. Slotine and W. Li , 1990 .

[13]  A. de Carli,et al.  Dynamic friction compensation in servodrives , 1994, 1994 Proceedings of IEEE International Conference on Control and Applications.

[14]  Jean-Jacques E. Slotine,et al.  Adaptive manipulator control: A case study , 1988 .

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

[16]  J. Y. S. Luh,et al.  Conventional controller design for industrial robots — A tutorial , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[17]  P. Dahl.  Solid Friction Damping of Mechanical Vibrations , 1976 .