Manipulator velocity control using friction compensation

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Manipulator velocity control using friction compensation

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The velocity control of a direct-drive mechanical arm with high friction is considered. The friction at the robot joints is assumed to be captured by a bristle deflection model. Two joint velocity controllers with friction compensation are introduced. Experiments show the superiority of the proposed schemes with respect to the velocity controllers when friction is compensated using the classical viscous plus Coulomb model of friction.

Inspec keywords: two-term control; friction; eigenvalues and eigenfunctions; compensation; velocity control; manipulator dynamics; closed loop systems

Other keywords: velocity control; manipulator; eigenvalues; direct-drive mechanical arm; dynamics; friction compensation; closed-loop system; bristle deflection model; PD control

Subjects: Control system analysis and synthesis methods; Velocity, acceleration and rotation control; Algebra; Manipulators

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