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

Volume

19

Issue

1

fYear

1999

fDate

2/1/1999 12:00:00 AM

Firstpage

25

Lastpage

32

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;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.745763

Filename

745763