Friction compensation in hybrid force/velocity control of industrial manipulators
Jatta, F.
Legnani, G.
Visioli, A.
Inst. of Ind. Technol. & Autom., Nat. Res. Council, Milan, Italy;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: April 2006
Volume: 53,
Issue: 2
On page(s): 604- 613
ISSN: 0278-0046
INSPEC Accession Number: 8875919
Digital Object Identifier: 10.1109/TIE.2006.870682
Current Version Published: 2006-04-03
Abstract
This paper deals with the implementation of a hybrid force/velocity controller for the automatic edge following of two-dimensional unknown planar contours performed by an industrial robot manipulator. In particular, the authors address the problem of compensating the joint friction effects that have to be taken into account in the controller design in order to achieve a reasonable performance with regards to normal force and tangential velocity errors. For that reason, two model-based friction-compensation methods are compared: a static method, based on a previously identified model, and an adaptive method, where joint friction parameters are recursively updated. By means of an extensive experimental activity, it is shown that, in spite of its simplicity and despite the friction effects changing in time during the robot operations, the devised adaptive procedure obtains a high performance in different operating conditions.
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