Title :
Friction compensation and robust hybrid control
Author :
Bona, B. ; Indri, M.
Author_Institution :
Dipartimento di Automatica e Informatica, Politecnico di Torino, Italy
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292128
