Title :
Friction compensation for an industrial hydraulic robot
Author :
Lischinsky, P. ; Canudas-de-Wit, C. ; Morel, G.
Author_Institution :
Dept. of Autom. Control, Los Andes Univ., Merida, Venezuela
fDate :
2/1/1999 12:00:00 AM
Abstract :
A model based friction compensation scheme using a novel dynamical friction model was implemented on an industrial Schilling Titan II hydraulic robot. Off-line estimation of parameters was carried out, using the results of two kinds of experiments. These experiments were done independently at each joint. A nonlinear PI type controller was used in the inner torque loop to improve its performance. The complete control scheme has shown to substantially improve the position precision in regulation and tracking. Higher precision applications can be performed by the hydraulic robot with this controller
Keywords :
compensation; friction; hydraulic control equipment; industrial manipulators; nonlinear control systems; parameter estimation; two-term control; Schilling Titan II hydraulic robot; dynamical friction model; friction compensation; industrial hydraulic robot; inner torque loop; model based friction compensation scheme; nonlinear PI type controller; off-line parameter estimation; position precision; regulation; tracking; Actuators; Automatic control; Force control; Force feedback; Friction; Hydraulic systems; Manipulator dynamics; Robot control; Service robots; Torque control;
Journal_Title :
Control Systems, IEEE
