Title :
Identification and friction compensation for an industrial robot using two degrees of freedom controllers
Author :
Vargas, Francisco J T ; De Fieri, E.R. ; Castelan, Eugenio B.
Author_Institution :
Dept. of Autom. & Syst., Federal Univ. of Santa Catarina, Florianopolis, Brazil
Abstract :
In this paper is done the experimental identification of friction parameters in LuGre model using the two degree of freedom controllers (TDOF). With identified parameters, friction compensation is implemented in SCARA industrial robot. For friction compensation is used a velocity observer. Controllers and friction compensation are implemented using the real time language XO/2. Analyses of experimental results for low velocities are presented.
Keywords :
friction; identification; industrial manipulators; mechanical variables control; SCARA robot; friction compensation; identification compensation; industrial manipulator robot; velocity observer; Automatic control; Control systems; Electrical equipment industry; Friction; Industrial control; Manipulator dynamics; Nonlinear dynamical systems; Robot control; Robotics and automation; Service robots;
Conference_Titel :
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN :
0-7803-8653-1
DOI :
10.1109/ICARCV.2004.1469006
