Robust Compliant Motion Control of Robot With Nonlinear Friction Using Time-Delay Estimation
Maolin Jin; Sang Hoon Kang; Pyung Hun Chang
Industrial Electronics, IEEE Transactions on
Volume 55, Issue 1, Jan. 2008 Page(s):258 - 269
Digital Object Identifier   10.1109/TIE.2007.906132
Summary:A simple robust compliant-motion-control technique is presented for a robot manipulator with nonlinear friction. The control technique incorporates both time-delay-estimation technique and ideal velocity feedback; the former is used to cancel out soft nonlinearities, and the latter serves to reduce the effect of hard nonlinearities, including Coulomb friction and stiction. The proposed controller has a simple structure and yet provides good online friction compensation without modeling friction. The robustness of the proposed method has been confirmed through comparisons with other controllers in 2-DOF SCARA-type industrial robot experiments.

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