Title :
The nonlinear friction compensation in the trajectory tracking of robot
Author :
Mei, Zhi-qian ; Xue, Wn-can ; Zhang, Guang-li ; Mao, Tai-xiang
Author_Institution :
Coll. of Mechanical & Electron. Eng., Hohai Univ., Changzhou, China
Abstract :
Friction, especially its nonlinear component, may degrade the tracking performance of robot. In this paper, a novel compensation method of nonlinear friction is presented, which modified the traditional Southward´s compensation method of nonlinear friction. Having estimated the nonlinear friction model using an identification method, the effect caused by its nonlinear component can be compensated, and enhanced tracking performance is verified under the SCARA robot experimental platform.
Keywords :
friction; identification; position control; robot dynamics; target tracking; SCARA robot; identification method; nonlinear friction compensation; trajectory tracking; Control systems; Degradation; Friction; Nonlinear control systems; PD control; Robots; Servomechanisms; Three-term control; Trajectory; Velocity control;
Conference_Titel :
Machine Learning and Cybernetics, 2003 International Conference on
Print_ISBN :
0-7803-8131-9
DOI :
10.1109/ICMLC.2003.1259924
