Manipulator velocity field control with dynamic friction compensation

2004 ◽  
Author(s):  
J. Moreno ◽  
R. Kelly
Keyword(s):  
Velocity Field ◽  
Friction Compensation ◽  
Dynamic Friction ◽  
Field Control

A Hierarchical Approach to Manipulator Velocity Field Control Considering Dynamic Friction Compensation

2005 ◽  
Vol 128 (3) ◽  
pp. 670-674 ◽  
Author(s):  
Javier Moreno-Valenzuela ◽  
Rafael Kelly
Keyword(s):  
Velocity Field ◽  
Degrees Of Freedom ◽  
Friction Compensation ◽  
Velocity Control ◽  
Hierarchical Approach ◽  
Direct Drive ◽  
Kinematic Control ◽  
Control Scheme ◽  
Field Control ◽  
Joint Velocity

The velocity field control of robot manipulators is addressed in this paper. The proposed algorithm has a hierarchical structure based on a velocity field kinematic control scheme for joint velocity resolution and an inner loop of joint velocity control that uses an observer for friction compensation. Experiments on a two degrees-of-freedom direct-drive arm illustrate the performance of the proposed controller.

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