Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robot

Detalhes bibliográficos
Autor(a) principal: Ramires,A. R. G.
Data de Publicação: 2009
Outros Autores: De Pieriy,E.R., Guentherz,R., Golinz,J. F.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Sba: Controle & Automação Sociedade Brasileira de Automatica
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592009000400004
Resumo: This paper focuses on the experimental results of the position tracking control of a flexible joint robot manipulator. The applied control strategy is based on a well know cascade control methodology that divides the robot model into two subsystems: a link and a rotor subsystem. Thanks to this division a friction compensation based on the LuGre model is performed to the mechanical system. The main goal of the present work is to apply a systematic procedure to identify the friction model parameters and to analyse the control strategy performance when implemented to a robot prototype specially built for practical tests.
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spelling Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robotRobot controljoint flexibilityfriction observerfriction compensationcascade controlThis paper focuses on the experimental results of the position tracking control of a flexible joint robot manipulator. The applied control strategy is based on a well know cascade control methodology that divides the robot model into two subsystems: a link and a rotor subsystem. Thanks to this division a friction compensation based on the LuGre model is performed to the mechanical system. The main goal of the present work is to apply a systematic procedure to identify the friction model parameters and to analyse the control strategy performance when implemented to a robot prototype specially built for practical tests.Sociedade Brasileira de Automática2009-12-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592009000400004Sba: Controle & Automação Sociedade Brasileira de Automatica v.20 n.4 2009reponame:Sba: Controle & Automação Sociedade Brasileira de Automaticainstname:Sociedade Brasileira de Automática (SBA)instacron:SBA10.1590/S0103-17592009000400004info:eu-repo/semantics/openAccessRamires,A. R. G.De Pieriy,E.R.Guentherz,R.Golinz,J. F.eng2010-01-29T00:00:00Zoai:scielo:S0103-17592009000400004Revistahttps://www.sba.org.br/revista/PUBhttps://old.scielo.br/oai/scielo-oai.php||revista_sba@fee.unicamp.br1807-03450103-1759opendoar:2010-01-29T00:00Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)false
dc.title.none.fl_str_mv Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robot
title Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robot
spellingShingle Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robot
Ramires,A. R. G.
Robot control
joint flexibility
friction observer
friction compensation
cascade control
title_short Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robot
title_full Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robot
title_fullStr Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robot
title_full_unstemmed Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robot
title_sort Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robot
author Ramires,A. R. G.
author_facet Ramires,A. R. G.
De Pieriy,E.R.
Guentherz,R.
Golinz,J. F.
author_role author
author2 De Pieriy,E.R.
Guentherz,R.
Golinz,J. F.
author2_role author
author
author
dc.contributor.author.fl_str_mv Ramires,A. R. G.
De Pieriy,E.R.
Guentherz,R.
Golinz,J. F.
dc.subject.por.fl_str_mv Robot control
joint flexibility
friction observer
friction compensation
cascade control
topic Robot control
joint flexibility
friction observer
friction compensation
cascade control
description This paper focuses on the experimental results of the position tracking control of a flexible joint robot manipulator. The applied control strategy is based on a well know cascade control methodology that divides the robot model into two subsystems: a link and a rotor subsystem. Thanks to this division a friction compensation based on the LuGre model is performed to the mechanical system. The main goal of the present work is to apply a systematic procedure to identify the friction model parameters and to analyse the control strategy performance when implemented to a robot prototype specially built for practical tests.
publishDate 2009
dc.date.none.fl_str_mv 2009-12-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592009000400004
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592009000400004
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S0103-17592009000400004
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Sociedade Brasileira de Automática
publisher.none.fl_str_mv Sociedade Brasileira de Automática
dc.source.none.fl_str_mv Sba: Controle & Automação Sociedade Brasileira de Automatica v.20 n.4 2009
reponame:Sba: Controle & Automação Sociedade Brasileira de Automatica
instname:Sociedade Brasileira de Automática (SBA)
instacron:SBA
instname_str Sociedade Brasileira de Automática (SBA)
instacron_str SBA
institution SBA
reponame_str Sba: Controle & Automação Sociedade Brasileira de Automatica
collection Sba: Controle & Automação Sociedade Brasileira de Automatica
repository.name.fl_str_mv Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)
repository.mail.fl_str_mv ||revista_sba@fee.unicamp.br
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