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Compensation of stick-slip effect in an electrical actuator

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3 Author(s)
Merzouki, R. ; Lab. de Robotique de Versailles, Velizy, France ; Cadiou, J.C. ; M'sirdi, N.K.

In some mechanical systems which make very small motions like industrial wagons or constructor robots, the dispositive of their control usually presents some imperfections, a succession of jumps and stops, when the static friction force is larger than the dynamic friction force. This effect is called the stick-slip phenomenon. In this paper, we develop a nonlinear observer in order to estimate the friction force of the contact during the motion, and to compensate the effects which cause the stick-slip phenomenon.

Published in:

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference: