Title :
Control of Manipulators Subject to Unknown Friction
Author_Institution :
Dipt. di Automatica e Informatica, Politecnico di Torino
Abstract :
The paper deals with a regulation control problem for a n-dof manipulator, subject to significant friction torques acting on the joints. While the values of the robot inertial parameters are assumed to be available, the friction parameters are supposed to be unknown: the compensation of the friction effects is then achieved by the proposed control approach on the basis of the estimate provided by a reduced-order observer. The effectiveness of the proposed approach is confirmed by the simulation results, obtained for a two-dof planar manipulator
Keywords :
friction; manipulator dynamics; observers; reduced order systems; friction parameter; manipulators; reduced-order observer; regulation control problem; robot inertial parameter; unknown friction; Automatic control; Friction; Limit-cycles; Manipulator dynamics; Robot motion; Robot sensing systems; Sensor phenomena and characterization; Torque control; Tracking; USA Councils;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377662
