Nonlinear friction compensation in harmonic drives with hysteresis

被引：2
作者：
Dhaouadi, R [1 ]
机构：
[1] Amer Univ Sharjah, Sch Engn, Sharjah, U Arab Emirates
来源：
PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2 | 2003年
关键词：
nonlinear observer; nonlinear friction compensation; harmonic drive; hysteresis;
D O I：
10.1109/AIM.2003.1225108
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a new nonlinear observer-based controller is designed for the compensation of friction in harmonic drive systems with hysteresis. The hysteresis phenomenon in a harmonic drive system is described by a nonlinear differential equation representing the combination of nonlinear stiffness and nonlinear friction. An estimate of the non-measurable friction state is derived using a nonlinear observer structure to provide for asymptotic stability and position tracking. The performance of the proposed system is validated by computer simulation.
引用
收藏
页码：278 / 283
页数：6
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