Title :
Friction characterization and controller design for a two axis manipulator
Author :
Kuehner, J. ; Diduch, C.P.
Author_Institution :
Dept. of Electr. Eng., New Brunswick Univ., Fredericton, NB, Canada
Abstract :
We provide a methodology for the design and implementation of a control system for a planar direct drive manipulator that reduces the effects of non-linear friction. The friction is characterized by a series of off-line experiments that capture dependencies on position and velocity. The characterization is built into a database that is coupled with an online feedback controller to enhance positioning accuracy
Keywords :
control system synthesis; feedback; friction; manipulators; position control; controller design; friction characterization; nonlinear friction; off-line experiments; online feedback controller; planar direct drive manipulator; positioning accuracy; two axis manipulator; Control systems; Databases; Design methodology; Feedback; Friction; Nonlinear control systems; Physics; Stability analysis; Torque; Velocity control;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.694711
