Friction compensation with estimated velocity

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 25 Jun 2003Publisher:IEEEJournal:Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), volume 3, pages 2,650-2,655

Authors: Y. Zhang; Guangjun Liu; Andrew A. Goldenberg;

doi: 10.1109/robot.2002.1013631

Friction compensation with estimated velocity

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Abstract

The problem of friction compensation at very low velocity is investigated experimentally. Two published friction compensation strategies, based on two well-known friction models, are evaluated experimentally on a direct drive robot arm. One is an adaptive nonlinear dynamic friction compensation method using the LuGre friction model, and the other is a decomposition-based friction compensation method based on a friction model parameter linearization approach. In the experiments, a new velocity estimation method is implemented. The method significantly improves the effectiveness of friction compensation for all tested methods.

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University of Toronto
Canada
Toronto Metropolitan University
Canada

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