Pose Regulation of Robot Manipulators with Dynamic Friction Compensation

2006 ◽  
Author(s):  
J. Moreno ◽  
R. Kelly
Keyword(s):  
Robot Manipulators ◽  
Friction Compensation ◽  
Dynamic Friction

Adaptive Friction Compensation in Robot Manipulators: Low Velocities

1991 ◽  
Vol 10 (3) ◽  
pp. 189-199 ◽  
Author(s):  
C. Canudas de Wit ◽  
P. Noël ◽  
A. Aubin ◽  
B. Brogliato
Keyword(s):  
Coulomb Friction ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Friction Compensation ◽  
Low Velocity ◽  
New Model ◽  
Friction Models ◽  
Computed Torque ◽  
Simple Models

This article analyzes the problem of modeling and compensation of friction at velocities close to zero. A new model, linear in parameters, which captures the downward bends at low velocity is used to adoptively compensate for friction. The need for this type of model is mainly motivated by instability phenomena that can be caused by overcompensation when simple models (such as Coulomb friction models) are used as a basis for the friction compensation. This model, in combination with an adaptive computed torque method, was tested experimentally in a robot manipulator.

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