DocumentCode
1867302
Title
Friction compensation and robust hybrid control
Author
Bona, B. ; Indri, M.
Author_Institution
Dipartimento di Automatica e Informatica, Politecnico di Torino, Italy
fYear
1993
fDate
2-6 May 1993
Firstpage
81
Abstract
In force/position control, possible uncertainties about the manipulator parameters and the presence of friction and striction on the contact surfaces compromise the correct decoupling of the two controls and can sometimes cause instability. A fixed friction compensation function is constructed in order to achieve stability when friction and striction are present. Robust control techniques are applied. Simulation results of the behavior of a force position-controlled planar manipulator are reported and analyzed
Keywords
compensation; force control; friction; position control; robots; stability; decoupling; fixed friction compensation function; force/position control; parameter uncertainties; planar manipulator; robust hybrid control; striction; Analytical models; Automatic control; Force control; Friction; Gravity; Position control; Robust control; Robust stability; Stability analysis; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292128
Filename
292128
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