MODEL-BASED DYNAMIC FRICTION COMPENSATION IN ROBOT ACTUATORS

被引：4
作者：
Martinez-Rosas, Juan C. [1 ]
Alvarez-Icaza, Luis [2 ]
Noriega-Pineda, Daniel [1 ]
机构：
[1] Univ Autonoma Ciudad Mexico, Iztapalapa, DF, Mexico
[2] Univ Nacl Autonoma Mexico, Inst Ingn, Coyoacan, DF, Mexico
来源：
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2015年 / 30卷 / 01期
关键词：
Dynamic friction model; LuGre friction model; Coulomb friction; Stribeck effect; EMERGENCY BRAKING CONTROL; FORCE; BEHAVIOR;
D O I：
10.2316/Journal.206.2015.1.206-3607
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 a novel dynamic friction model is presented. This friction model is an extension of the well-known LuGre friction model. Stribeck effect is now modeled by an additional differential equation, that leads to a second-order dynamic friction model. The main advantage of this new formulation is the possibility to recover in real time two of the most relevant parameters in friction models, Coulomb and static friction coefficients, which can not be recovered directly in the LuGre friction model. Model properties are analyzed to show that the model captures essential features of friction. Experimental results in an industrial manipulator show good performance of a friction compensation adaptive scheme in velocity tracking tasks, under large initial uncertainty of friction parameters and the presence of load disturbances.
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页码：1 / 12
页数：12
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