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Browse Conference Publications > Robotics and Automation, 2002 ... Help

On manipulator velocity control using friction compensation

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3 Author(s)
Moreno, J. ; Div. de Fisica Aplicada, CICESE, Ensenada, Mexico ; Kelly, R. ; Campa, Ricardo

The velocity control of a direct-drive robot arm with high friction is considered in this paper. The friction at the robot joints is assumed to be captured by the Dahl model (1976), which has a bristle deflection interpretation. A joint velocity controller with friction compensation based on the Dahl model is introduced. Experiments show the superiority of the proposed scheme with respect to the velocity controller when friction is compensated using the classical viscous plus Coulomb model of friction.

Published in:
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

Date of Conference: 2002

Page(s):
3417 - 3422 vol.4
Print ISBN:
0-7803-7272-7
INSPEC Accession Number:
7387788
Digital Object Identifier :
10.1109/ROBOT.2002.1014239
Product Type:
Conference Publications

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