Experimental comparison of some compensation techniques for the control of manipulators with stick-slip friction

Tataryn, P.D.; Sepehri, Nariman; Strong, Doug

doi:10.1016/0967-0661(96)00127-x

Cited by 18 publications

(6 citation statements)

References 9 publications

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“…A simple stiff PD control (without modeling) is applied and due to Tataryn, et al (1996) a smooth robust nonlinear feedback (SRNF) is tested. The usage of a simple stiff PD control in the systems is limited because of its sensitivity to noise generated by the digital derivative of position measurements.…”

Section: Stick-slip Motion Pd Compensationmentioning

confidence: 99%

“…For Link 1 (due to the Stribeck effect) and for linear slide tables (due to the vibrations produced by flexibility caused -among others -by Helical couplings) the stiff PD control is not sufficient to the same control purpose. Investigated by Tataryn, et al (1996) the smooth robust nonlinear feedback compensation method works well for the entire system except the Link 1. For Link 1 it is not possible to set up parameters of SRNF to eliminate stick-slip (like shown in Figure 8).…”

Section: Stick-slip Motion Pd Compensationmentioning

confidence: 99%

“…However, it is difficult to guarantee the robustness in both stability and performance criteria when fixed model friction compensation is used because friction is nonstationary and positiondependent phenomena. Thus methods that do not require a complete knowledge of the friction dynamics (Tataryn, et al 1996) have significant practical meaning. Many of such methods have been developed for example: stiff PD, dither, impulsive control, smooth robust nonlinear feedback, etc.…”

Section: Introductionmentioning

confidence: 99%

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Compensation of Friction in Robotic Arms and Slide Tables

Żabiński

Turnau

2005

IFAC Proceedings Volumes

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The paper presents experimental results of friction parameter identification for two different systems: rotational arms of a direct-drive spherical manipulator and linear slide tables. Parameters of the static part of the LuGre friction model are estimated. Several experiments are reported in which selected friction compensation methods are employed for tracking at low velocities. Two compensators working in real time are constructed and verified: the PD-like lead, to avoid stick-slip motion and the on-line trained neural network with a special structure, to avoid errors caused by friction and varying dynamics of robotic actuators.

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Section: Stick-slip Motion Pd Compensationmentioning

confidence: 99%

Section: Stick-slip Motion Pd Compensationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Compensation of Friction in Robotic Arms and Slide Tables

Żabiński

Turnau

2005

IFAC Proceedings Volumes

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“…In robotic manipulators with brushless direct drive actuators, the positive effects of reduction gears are absent. At low velocities, where stiction and the Stribeck effect are conspicuous, simple wideband "stiff" PD controllers may work (Tataryn et al, 1996), although instabilities may occur due to various reasons, the principal one being the neglected parasitic elastic dynamics. At high velocities, where the effects of nonlinear coupling torques become noticeable, PID controllers become inefficient.…”

Section: Nonlinear Control With Friction Compensationmentioning

confidence: 99%

Nonlinear friction phenomena in direct-drive robotic arms: an experimental set-up for rapid modelling and control prototyping

Bona

Indri

Smaldone

2003

IFAC Proceedings Volumes

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This paper considers the design and the experimental validation of digital control algorithms when both low and high velocity precision issues are important for the quality of the controlled equipment. At low velocities friction phenomena are dominant, while at high velocities the nonlinear coupled and configuration-dependent dynamics plays a major role. Since rapid control prototyping (RCP) requires "finely-tuned" models of the equipment under investigation, an accurate definition of the nonlinear friction model is of capital importance for assessing the qualification of the proposed algorithms. An experimental validation of the proposed models and control algorithms with friction compensation is presented and discussed for a two-arms planar manipulator with brushless directdrive actuators.

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“…Coulomb friction, viscous and static friction, and the Stribeck e ect have been modelled successfully (c.f. 3,4,10]). In 1] friction in a lubricated journal bearing is both measured and estimated using a friction observer.…”

Section: Introductionmentioning

confidence: 99%

Control of nonlinear systems with friction

Hirschorn

Miller²

1999

IEEE Trans. Contr. Syst. Technol.

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In this paper we introduce a new continuous dynamic controller for a class of nonlinear systems which includes mechanical system models with a bristle model for nonlinear friction e ects. We obtain su cient conditions for global stabilization using an estimate for bristle defection and present experimental results illustrating the bene ts of our dynamic controller in the regulation of a high speed linear positioning table.

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Experimental comparison of some compensation techniques for the control of manipulators with stick-slip friction

Cited by 18 publications

References 9 publications

Compensation of Friction in Robotic Arms and Slide Tables

Compensation of Friction in Robotic Arms and Slide Tables

Nonlinear friction phenomena in direct-drive robotic arms: an experimental set-up for rapid modelling and control prototyping

Control of nonlinear systems with friction

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