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An Adaptive Friction Compensator for Global Tracking in Robot Manipulators

Panteley, Elena; Gäfvert, Magnus LU and Ortega, Romeo (1997) 5th IFAC Symposium on Robot Control
Abstract
It is well known that one of the major limitations to achieve good performance in mechanical systems is the presence of friction, which is a nonlinear phenomenon difficult to model. In a recent paper Canudas and co-workers proposed to represent it with a nonlinear dynamical model. The friction compensation problem with this model is stymied by the fact that the parameters are uncertain and some of the state variables are unaccesible. Further, the structure of the equations is such that the existing techniques for adaptive output feedback global tracking --based on transformations to special forms-- are (apparently) unapplicable. In this brief note we develop an adaptive global tracking controller for robot manipulators perturbed by... (More)
It is well known that one of the major limitations to achieve good performance in mechanical systems is the presence of friction, which is a nonlinear phenomenon difficult to model. In a recent paper Canudas and co-workers proposed to represent it with a nonlinear dynamical model. The friction compensation problem with this model is stymied by the fact that the parameters are uncertain and some of the state variables are unaccesible. Further, the structure of the equations is such that the existing techniques for adaptive output feedback global tracking --based on transformations to special forms-- are (apparently) unapplicable. In this brief note we develop an adaptive global tracking controller for robot manipulators perturbed by friction forces represented by this dynamical model. This work extends in various directions the existing literature since we treat the general case of position <em>tracking</em> of an <em>n</em> degree of freedom robot manipulator with only measurements of position and velocity, and consider <em>all</em> the system parameters (robot and friction model) to be unknown. Besides its theoretical significance the proposed controller is of practical importance since the friction compensation is achieved with a very simple adaptive law. (Less)
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5th IFAC Symposium on Robot Control
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673c1973-815f-4d7b-b31b-ab1757dcf28c (old id 8517017)
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http://www.control.lth.se/documents/1997/pant+97.pdf
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2016-02-12 12:28:33
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@misc{673c1973-815f-4d7b-b31b-ab1757dcf28c,
  abstract     = {It is well known that one of the major limitations to achieve good performance in mechanical systems is the presence of friction, which is a nonlinear phenomenon difficult to model. In a recent paper Canudas and co-workers proposed to represent it with a nonlinear dynamical model. The friction compensation problem with this model is stymied by the fact that the parameters are uncertain and some of the state variables are unaccesible. Further, the structure of the equations is such that the existing techniques for adaptive output feedback global tracking --based on transformations to special forms-- are (apparently) unapplicable. In this brief note we develop an adaptive global tracking controller for robot manipulators perturbed by friction forces represented by this dynamical model. This work extends in various directions the existing literature since we treat the general case of position &lt;em&gt;tracking&lt;/em&gt; of an &lt;em&gt;n&lt;/em&gt; degree of freedom robot manipulator with only measurements of position and velocity, and consider &lt;em&gt;all&lt;/em&gt; the system parameters (robot and friction model) to be unknown. Besides its theoretical significance the proposed controller is of practical importance since the friction compensation is achieved with a very simple adaptive law.},
  author       = {Panteley, Elena and Gäfvert, Magnus and Ortega, Romeo},
  language     = {eng},
  title        = {An Adaptive Friction Compensator for Global Tracking in Robot Manipulators},
  year         = {1997},
}