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Robust Compliant Motion Control of Robot With Nonlinear Friction Using Time-Delay Estimation
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IEEE Transactions on Industrial Electronics, ISSN: 0278-0046, Vol: 55, Issue: 1, Page: 258-269
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- Engineering; Physics and Astronomy; Compliant motion control; Friction; Hard nonlinearity; Impedance control; Time-delay control (TDC)
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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.