Affiliation:
1. Laboratoire D'Automatique de Grenoble (C.N.R.S. UA 228) Greco (69) “Systèmes Adaptatifs” Ensieg-Inpg BP 46, 38402 Saint-Martin d'Hères, France
Abstract
This article analyzes the problem of modeling and compensation of friction at velocities close to zero. A new model, linear in parameters, which captures the downward bends at low velocity is used to adoptively compensate for friction. The need for this type of model is mainly motivated by instability phenomena that can be caused by overcompensation when simple models (such as Coulomb friction models) are used as a basis for the friction compensation. This model, in combination with an adaptive computed torque method, was tested experimentally in a robot manipulator.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Cited by
128 articles.
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