NDLI: Static and dynamic friction compensation in trajectory tracking control of robots

Content Provider	IEEE Xplore Digital Library
Author	Yongliang Zhu Pagilla, P.R.
Copyright Year	2002
Description	Author affiliation: Sch. of Mech. & Aerosp. Eng., Oklahoma State Univ., Stillwater, OK, USA (Yongliang Zhu; Pagilla, P.R.)
Abstract	This paper deals with friction compensation techniques for accuracy trajectory tracking control of robots. We extend the traditional model-based adaptive control algorithms that are prevalent in the robotics literature with adaptive friction compensation. Adaptive controllers that consider both static and dynamic friction effects in the robot dynamics are proposed. Stability of the proposed adaptive controller with friction compensation is shown. An extensive experimental study has been done to illustrate the importance of friction compensation in trajectory tracking. The tracking performance of the proposed adaptive controller utilizing the dynamic friction models for compensation is far superior to the conventional adaptive controller without friction compensation. Using the data collected for a series of experiments we compare the proposed adaptive controllers with static and dynamic friction compensation with two well known robot control algorithms, i.e., model-based computed-torque control and adaptive control. A representative sample of the experimental data is shown and discussed.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	2644
Ending Page	2649
File Size	548446
Page Count	6
File Format	PDF
ISBN	0780372727
DOI	10.1109/ROBOT.2002.1013630
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction Trajectory Robot control Adaptive control Programmable control Torque control Aerodynamics Stability Aerospace engineering Limit-cycles
Content Type	Text
Resource Type	Article

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