STABLE INTERACTION CONTROL AND COULOMB-FRICTION COMPENSATION USING NATURAL ADMITTANCE CONTROL

被引:45
作者
NEWMAN, WS [1 ]
ZHANG, YD [1 ]
机构
[1] CASE WESTERN RESERVE UNIV, CTR AUTOMAT & INTELLIGENT SYST RES, CLEVELAND, OH 44106 USA
来源
JOURNAL OF ROBOTIC SYSTEMS | 1994年 / 11卷 / 01期
关键词
D O I
10.1002/rob.4620110103
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
A new control system design formulation is presented for achieving high-performance, guaranteed-stable impedance control. While the bandwidth of the resulting controller is no higher than alternative techniques, the new formulation significantly improves performance when Coulomb friction is present in the system. The technique requires a careful choice of the target impedance. The resulting feedback compensators are causal and have stable poles, although they are often non-minimum phase. General rules for controller synthesis are derived. Experimental performance results are presented for a two-mass system with internal compliance and Coulomb friction. Results demonstrate that the technique is successful in rejecting internal friction force disturbances while maintaining a passive driving-point impedance. (C) 1994 John Wiley & Sons, Inc.
引用
收藏
页码:3 / 11
页数:9
相关论文
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