Adaptive compensation of dynamic friction in an industrial robot

被引：0
|
作者：
Martinez-Rosas, Juan C. [1 ]
Alvarez-Icaza, Luis [1 ]
机构：
[1] Univ Nacl Autonoma Mexico, Inst Ingn, Coyoacan 04510, DF, Mexico
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2 | 2008年
关键词：
Dynamic friction models; Coulomb friction; Stribeck effect; LuGre friction model;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new dynamic model to describe joint friction in a industrial robot is presented. This model is an extension of the popular LuGre dynamic friction model. However, the description of the Stribeck effect is modeled with a first order nonlinear differential equation. This yields a second order dynamic friction model that still preserves the intuitive base of previous models, reproduces the pseudo-steady state behavior and offers the same input-output properties. The advantage with respect to other dynamic friction models is in the possibility of identifying all the relevant parameters. This particularly important when this parameters change with time making it difficult to continuously calibrate the model. The validity of a dynamic friction adaptive compensation scheme is verified by means of experimental results.
引用
收藏
页码：577 / +
页数：3
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