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Dynamic modelling and friction compensated control of a robot manipulator joint

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2 Author(s)
Gomes, S.C.P. ; CERT/DERA, Toulouse ; Chretien, J.P.

The authors describe a dynamic modeling of a robot joint drive, based on experimental results. The friction model is a function of angular position and velocity. This model was used for the design of mechanisms to compensate for internal disturbances. Two friction compensation mechanisms were tested experimentally: one for the position-dependent part and another for the velocity-dependent part. The velocity-dependent friction torque component was written in a different form. This made possible an analysis of closed-loop poles behavior, that can be useful in the elaboration of gain scheduling control laws

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992