Robust Compliant Motion Control of Robot With Nonlinear Friction Using Time-Delay Estimation

Citation data:

IEEE Transactions on Industrial Electronics, ISSN: 0278-0046, Vol: 55, Issue: 1, Page: 258-269

Publication Year:
Usage 214
Abstract Views 213
Link-outs 1
Captures 39
Readers 38
Exports-Saves 1
Mentions 1
Blog Mentions 1
Citations 97
Citation Indexes 97
Repository URL:
Jin, Maolin; Kang, Sang Hoon; Chang, Pyung Hun
Institute of Electrical and Electronics Engineers (IEEE); IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Engineering; Physics and Astronomy; Compliant motion control; Friction; Hard nonlinearity; Impedance control; Time-delay control (TDC)
Most Recent Blog Mention
article description
A simple robust compliant-motion-control technique is presented for a robot manipulator with nonlinear friction. The control technique incorporates both time-delay-estimation technique and ideal velocity feedback; the former is used to cancel out soft nonlinearities, and the latter serves to reduce the effect of hard nonlinearities, including Coulomb friction and stiction. The proposed controller has a simple structure and yet provides good online friction compensation without modeling friction. The robustness of the proposed method has been confirmed through comparisons with other controllers in 2-DOF SCARA-type industrial robot experiments. © 2008 IEEE.