Friction identification and compensation in robotic manipulators

被引：85

作者：

Kermani, Mehrdad R. ^{[1
,2
]}

Patel, Rajnikant V. ^{[1
,2
]}

Moallem, Mehrdad ^{[3
]}

机构：

[1] Univ Western Ontario, Dept Elect & Comp Engn, London, ON N6A 5B8, Canada

[2] Canadian Surg Technol & Adv Robot, London, ON N6A 5A5, Canada

[3] Simon Fraser Univ, Sch Engn Sci, Burnaby, BC V5A 1S6, Canada

来源：

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT | 2007年 / 56卷 / 06期

基金：

加拿大自然科学与工程研究理事会;

关键词：

friction compensation; friction force; identification; modeling; robotic manipulator;

D O I：

10.1109/TIM.2007.907957

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, friction identification and friction compensation in the joints of a robotic manipulator are studied. The friction force is modeled using a single-state dynamic model that is utilized in the friction compensation algorithm. A new method for identifying the parameters of the aforementioned model in a robotic manipulator is presented. To evaluate the performance of this method, two different manipulators with different friction characteristics are examined. A 2-DOF manipulator that is used for high-speed micrometer precision manipulation and a 4-DOF macromanipulator that is used for long-reach positioning tasks are considered. It is shown that despite the different nature of the two manipulators, the same method can effectively improve the speed, accuracy, and smoothness of the manipulation in both cases.

引用

页码：2346 / 2353

页数：8

共 18 条

[1] A SURVEY OF MODELS, ANALYSIS TOOLS AND COMPENSATION METHODS FOR THE CONTROL OF MACHINES WITH FRICTION [J].