Reduction of the Relative Positioning Error of a Machine Vision System Using Friction Compensation

Friction is a nonlinear phenomenon present in all mechanical systems and significantly impacts the control area. Currently, there exist a large number of systems that require precise positioning control to achieve optimal performance. The present paper seeks to estimate friction torque for a controlled direct-current motor (DC motor) for the positioning laser of a 3D machine vision system. The relative positioning error that causes this phenomenon using the LuGre friction model is identified. Later a feasible solution for high-performance positioning control for the positioning laser using friction compensation is proposed.