Title :
Design of an adaptive PD controller with dynamic friction compensation for direct-drive SCARA robot
Author :
Thanok, Sunphong
Author_Institution :
Dept. of Teacher Training in Mech. Eng., King Mongkut´s Univ. of Technol. North Bangkok, Bangkok, Thailand
Abstract :
This paper presents the design of an adaptive PD controller with dynamic friction compensation for Direct-Drive SCARA robot. The controller, composed of a PD feedback and an adaptive feed-forward, is separately designed to compensate dynamic and static friction. It is found that the controller which compensates the dynamic friction has a smaller steady-state.
Keywords :
PD control; adaptive control; compensation; control system synthesis; PD feedback; adaptive PD controller design; direct drive SCARA robot; dynamic friction compensation; static friction; Adaptation models; Robots;
Conference_Titel :
Electrical Engineering Congress (iEECON), 2014 International
Conference_Location :
Chonburi
DOI :
10.1109/iEECON.2014.6925912
