Title :
Adaptive control strategies for rigid robots to reduce harmonic content of driving torque and compensate coulomb friction
Author :
Alonge, F. ; Raimondi, T. ; D´Ippolito, F.
Author_Institution :
Fac. of Eng., Palermo Univ., Italy
Abstract :
This paper deals with design of adaptive control laws for robotic manipulators suitable for trajectory tracking tasks. Principal objectives pursued are to cope with velocity data corrupted by noise, and adaptive coulomb friction compensation. Experimental findings are shown to verify attainment of the above objectives
Keywords :
adaptive control; compensation; friction; harmonics; manipulators; path planning; position control; torque; adaptive control; adaptive control laws; corrupted velocity data; coulomb friction compensation; driving torque; harmonic content reduction; rigid robots; robotic manipulators; trajectory tracking; Adaptive control; Friction; Manipulator dynamics; Mathematical model; Power harmonic filters; Robotics and automation; Robots; Torque control; Trajectory; Transmission line matrix methods;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1996., Proceedings of the 1996 IEEE IECON 22nd International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2775-6
DOI :
10.1109/IECON.1996.570953
