A robust friction control scheme of robot manipulators

Author

Chen, Jeng-Shi ; Juang, Jyh-Ching

Author_Institution

Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3266

Abstract

In this paper, the tracking problem is considered for robot manipulators in the presence of static friction, bounded disturbance, and modeling uncertainties. A composite tracking control strategy is proposed in which an adaptive friction estimation is used to estimate the extent of friction and a robust controller is then designed to enhance the overall stability and robustness. Performance issues of robust adaptive friction control are illustrated in simulation made for a two degree of freedom planar robot manipulator.

Keywords

adaptive control; adaptive estimation; control system synthesis; linear matrix inequalities; manipulators; motion control; robust control; stiction; tracking; uncertain systems; adaptive friction estimation; bounded disturbance; composite tracking control; linear matrix inequalities; modeling uncertainties; motion control; robot manipulators; robust controller design; robust friction control; robustness; stability; static friction; two degree of freedom; Adaptive control; Control design; Friction; Manipulators; Programmable control; Robot control; Robust control; Robustness; Time varying systems; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242094

Filename

1242094