Robust Compliant Motion Control of Robot With Nonlinear Friction Using Time-Delay Estimation
Maolin Jin
Sang Hoon Kang
Pyung Hun Chang
Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Jan. 2008
Volume: 55,
Issue: 1
On page(s): 258-269
ISSN: 0278-0046
INSPEC Accession Number: 9756547
Digital Object Identifier: 10.1109/TIE.2007.906132
Current Version Published: 2008-01-04
Abstract
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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