Adaptive Friction Compensation in Trajectory Tracking Control of DLR Medical Robots with Elastic Joints

被引：0
作者：
Luc Le-Tien [1 ]
Albu-Schaeffer, Alin [1 ]
机构：
[1] German Aerosp Ctr DLR, Robot & Mechatron Ctr, D-82234 Oberpfaffenhofen, Wessling, Germany
来源：
2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2012年
关键词：
Adaptive control; adaptive friction compensation; flexible joint robots; STATE-FEEDBACK CONTROLLER;
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：
In this paper we introduce an adaptive control scheme for robots with elastic joints (in particular for the DLR medical robot) in order to increase the positioning accuracy and the performance of control with respect to uncertainties of the parameters of the robot dynamics. In order to design control and analyze system stability a static friction model is applied which describes Coulomb, viscose and load dependent friction. A stability analysis is done for this adaptive control scheme, allowing a Lyapunov based convergence analysis in the context of the nonlinear robot dynamics. Experimental results validate the practical efficiency of the approach.
引用
收藏
页码：1149 / 1154
页数：6
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