Affiliation:
1. School of Mechanical Engineering, and Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China
Abstract
This paper aims to highlight the critical role of robot manipulators in industrial applications and elucidate the challenges associated with achieving high-precision control. In particular, the detrimental effects of nonlinear friction on manipulators are discussed. To overcome this challenge, a novel friction compensation controller (FCC) that combines time-delay estimation (TDE) and an adaptive fuzzy logic system (AFLS) is proposed in this paper. The friction compensation controller is designed to take advantage of the time-delay estimation algorithm’s strengths in eliminating and estimating unknown dynamic functions of the system using information from the previous sampling period. Simultaneously, the adaptive fuzzy logic system compensates for the hard nonlinearities in the system and suppresses the errors generated by time-delay estimation, thus improving the accuracy of the robotic arm’s tracking. The numerical experimental results demonstrate that the proposed friction compensation controller can significantly enhance the tracking accuracy of the robotic arm, with the addition of the adaptive fuzzy logic system improving time delay estimation’s performance by an average of 90.59%. Moreover, the proposed controller is more straightforward to implement than existing methods and performs exceptionally well in practical applications.
Funder
National Natural Science Foundation of China
Key Research and Development Program of Shandong Province
Shandong Province New Old Energy Conversion Major Industrial Tackling Projects
Key R&D project of Jining City
Key R&D Program of Shandong Province
Education and Teaching Reform Research Projects of Shandong University
Subject
Control and Optimization,Control and Systems Engineering
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