Trajectory tracking control of a 2-degree-of-freedom gantry crane robot with dynamic friction compensation

In order to achieve the accurate trajectory tracking of 2 degree-of-freedom gantry crane robot, the resolved acceleration control scheme based on dynamic friction compensation is used, with Dahl friction model in dynamic modeling. The resolved acceleration controller based on the so-called inverse dynamics technique is an algorithm to solve the pose control of manipulators. Given the same desired trajectory equations, the simulation results have proven that the trajectory control scheme based on the resolved acceleration controller with Dahl-based friction compensation has more rapid response performance, compared with the control scheme with viscous friction compensation, and has the shorter response time and the smaller maximum tracking error value, compared with the control scheme based on differential flatness.