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Improved Nonlinear Friction Compensation Method for Robot Joint Driving

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【Author】 MEI Zhi-qian~(1,2), YANG Ru-qing~1, ZHANG Guang-li~1, MAO Tai-xiang~1 (1.Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China; 2.College of Mechanical and Electronical Engineering, Hohai University, Changzhou, Jiangsu 213022, China)

【机构】 Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China； .College of Mechanical and Electronical Engineering, Hohai University, Changzhou, Jiangsu 213022, China,Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China,Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China,Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China；

【Abstract】 In order to alleviate the steady-state position error and the destabilizing effect of the nonlinear friction, a novel compensation method is presented, which modified the traditional Southward’s compensation method. Estimated the nonlinear friction model using an identification method, the effect caused by its nonlinear component can be compensated, and an enhanced tracking performance is verified on a selectively compliant articulated robot arm(SCARA) robot.更多还原

【关键词】 nonlinear friction； feedback compensation； trajectory tracking；
【Key words】 nonlinear friction； feedback compensation； trajectory tracking；

【基金】 SponsoredbytheNational“86 3”ProgramProject(86 3 5 1 2 972 0 0 4)

【文献出处】 Journal of Beijing Institute of Technology(English Edition) ,北京理工大学学报(英文版) , 编辑部邮箱 ,2004年04期

【分类号】TP24
【下载频次】56

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