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:
2008
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Citations 89
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Repository URL:
http://scholarworks.unist.ac.kr/handle/201301/13414
DOI:
10.1109/tie.2007.906132
Author(s):
Jin, Maolin, Kang, Sang Hoon, Chang, Pyung Hun
Publisher(s):
Institute of Electrical and Electronics Engineers (IEEE), IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Tags:
Engineering, Physics and Astronomy, Compliant motion control, Friction, Hard nonlinearity, Impedance control, Time-delay control (TDC)
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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.

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