The design of a friction compensation control architecture for a heavy lift precision manipulator in contact with the environment

被引：6
作者：
Garretson, Justin R. [1 ]
Becker, William T. [1 ]
Dubowsky, Steven [1 ]
机构：
[1] MIT, Field & Space Robot Lab, 77 Massachusetts Ave, Cambridge, MA 02139 USA
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词：
heavy lift manipulator; precision manipulator; friction compensation; position control; adaptive control;
D O I：
10.1109/ROBOT.2006.1641157
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Joint friction is a major obstacle in heavy-lift precision manipulator performance. Friction compensation is vital to the performance of these manipulators. This paper presents a friction compensation architecture for a six degree-of-freedom heavy lift manipulator which utilizes sensor-based compensation in some joints, and a combination of adaptive, and model-based compensation in the remaining joints. The adaptive approach is used when the manipulator is not in contact with the environment, and the model-based compensation is used when the manipulator or its payload nears the environment. The parameters of the model-based approach are updated by the adaptive compensation during the non-contact phase of the task. This approach is validated in simulation.
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收藏
页码：31 / +
页数：2
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