Friction Identification and Compensation in Robotic Manipulators

In this paper, friction identification and friction compensation in the joints of a robotic manipulator are studied. The friction force is modeled using a single-state dynamic model that is utilized in the friction compensation algorithm. A new method for identifying the parameters of the aforementioned model in a robotic manipulator is presented. To evaluate the performance of this method, two different manipulators with different friction characteristics are examined. A 2-DOF manipulator that is used for high-speed micrometer precision manipulation and a 4-DOF macromanipulator that is used for long-reach positioning tasks are considered. It is shown that despite the different nature of the two manipulators, the same method can effectively improve the speed, accuracy, and smoothness of the manipulation in both cases.

[1]  Jan Swevers,et al.  An integrated friction model structure with improved presliding behavior for accurate friction compensation , 1998, IEEE Trans. Autom. Control..

[2]  F. M. Callier,et al.  Dissipative Systems Analysis and Control: Theory and Applications (2nd Edition)-[Book review; B. Brogliato, R. Lozano, B. Maschke] , 2007, IEEE Transactions on Automatic Control.

[3]  Carlos Canudas de Wit,et al.  Adaptive friction compensation with partially known dynamic friction model , 1997 .

[4]  M. Moallem,et al.  Flexure control using piezostack actuators: design and implementation , 2005, IEEE/ASME Transactions on Mechatronics.

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

[6]  P. Bliman.  Mathematical study of the Dahl's friction model , 1992 .

[7]  Mehrdad Moallem,et al.  Study of system parameters and control design for a flexible manipulator using piezoelectric transducers , 2005 .

[8]  Friedrich Pfeiffer,et al.  Unsteady processes in machines. , 1994, Chaos.

[9]  Maarten Steinbuch,et al.  Frequency domain identification of dynamic friction model parameters , 2002, IEEE Trans. Control. Syst. Technol..

[10]  Carlos Canudas de Wit,et al.  Friction Models and Friction Compensation , 1998, Eur. J. Control.

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

[12]  Romeo Ortega,et al.  Necessary and sufficient conditions for passivity of the lugre friction model 1 , 1999 .

[13]  Bernard Friedland,et al.  On the Modeling and Simulation of Friction , 1990, 1990 American Control Conference.

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

[15]  Naomi Ehrich Leonard,et al.  Adaptive friction compensation for bi-directional low-velocity position tracking , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[16]  P. Dahl.  A Solid Friction Model , 1968 .