DocumentCode
2494498
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
Volume
4
fYear
2003
fDate
2-5 Nov. 2003
Firstpage
2457
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Machine Learning and Cybernetics, 2003 International Conference on
Print_ISBN
0-7803-8131-9
Type
conf
DOI
10.1109/ICMLC.2003.1259924
Filename
1259924
Link To Document