Sensorless Force estimation of SCARA robot system with Friction Compensation

被引：5

作者：

Prajumkhaiy, Navalerk ^{[1
]}

Mitsantisuk, Chowarit ^{[1
]}

机构：

[1] Kasetsart Univ, Fac Engn, Dept Elect Engn, Bangkok, Thailand

来源：

2016 INTERNATIONAL ELECTRICAL ENGINEERING CONGRESS, IEECON2016 | 2016年

关键词：

SCARA Robot; PID controller; Friction Force Compensation; Disturbance Observer;

D O I：

10.1016/j.procs.2016.05.030

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this paper, the friction compensation method of SCARA robot is proposed. During the operation, the friction force in the system causes the heat to the robot and system. Since heat which occurred in the system is accumulated for a long time, the robot and system have been damaged. Moreover, performance and stability of the system have been reduced. Therefore, compensation of friction force is an important method for increase performance and stability of the system. In this paper, the disturbance observer is used with mathematic modelling of friction compensation for compensate the friction force in the system. From the simulation results, the system which has a friction force compensation can show the increasing of performance and stability. (C) 2016 Published by Elsevier B.V.

引用

页码：120 / 123

页数：4

共 5 条

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Mitsantisuk, Chowarit
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[5] Study on the friction nonlinear control of force control system
Zhang, Biao
Dong, Yan-liang
Zhao, Ke-ding
Li, Ge-qiang
[J]. 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 3695 - +

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