Adaptive Friction Compensation of Robot Manipulator

Wang, Sanxiu; Jiang, Shengtao

doi:10.1007/978-3-642-21697-8_17

Cited by 11 publications

(3 citation statements)

References 10 publications

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“…Seung Jean proposed an autoregressive model to identify the coefficient of viscous friction in the frequency domain [23]. Furthermore, various algorithms such as trained neural networks, least square methods, genetic algorithms, and ant colony algorithms are utilized for friction parameter identification [24][25]. However, these algorithms mostly focus on single parameter identification and have low efficiency for multi-objective parameter identification.…”

Section: Introductionmentioning

confidence: 99%

Pre-compensation Strategy for Tracking Error and Contour Error by Using Friction and Cross-Coupled Control

Yu,

Zhang,

Liu

et al. 2023

Preprint

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This paper focuses on improving the tracking accuracy for servo systems and increasing the contouring performance of precision machining. The dynamic friction during precision machining is analyzed using the LuGre model. The dynamic and static parameters in the friction model are efficiently and accurately identified using the improved Drosophila Swarm Algorithm based on cross-mutation. The friction tracking error can be deduced by the friction state space and an expression is derived. To compensate for the tracking error caused by friction, a feedforward compensation control is designed to avoid signal lag in traditional friction controllers. Furthermore, the factors of multi-axis parameter mismatching that impact the machining profile accuracy are analyzed for multi-axis control. An adaptive cross-coupled control-based pre-compensation strategy of contour error is designed to reduce both the tracking error and the contour error. The effectiveness of the proposed method is validated through several experiments, which demonstrate a remarkable improvement in tracking performance and contour accuracy.

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Section: Introductionmentioning

confidence: 99%

Pre-compensation Strategy for Tracking Error and Contour Error by Using Friction and Cross-Coupled Control

Yu,

Zhang,

Liu

et al. 2023

Preprint

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“…Wang et al developed an adaptive back stepping friction compensation and controller structure to control the robot manipulators with uncertain parameters and flexible joints, independent of temperature effects. Sanxiu and Shengtao proposed an adaptive tracking control approach with a static friction that is not a good choice in situations where temperature effects are of much importance. Yazdizadeh et al studied different aspects of adaptive compensation schemes when the joints are subject to the static friction and unknown friction parameters.…”

Section: Introductionmentioning

confidence: 99%

Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Azizi

Yazdizadeh

2019

Adaptive Control & Signal

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Mechanical systems are always suffering from the effects of temperature dependent friction forces where the system is operated in a wide range of temperature.Temperature and its variation play an important role in friction force in mechanical systems. If it is not compensated, it will tend to unwanted consequences, including steady-state errors, limit cycling, and hunting. Therefore, it is necessary to take the temperature effects into account. This has been a strong motivation for the researchers to work on temperature effects on joint friction. In this paper, an adaptive compensation (control) scheme is proposed and applied to a 2-degree-of-freedom serial robot manipulator by taking the temperature effects into account on the joints friction. In the proposed control scheme, the temperature is not required to be sensed. In this paper, joint friction is described by LuGre dynamic model with temperature dependent parameters. These parameters are described by some functions with unknown temperature dependent terms. According to the mathematical and practical concepts, the temperature dependent friction is decomposed into a viscous term and a disturbance term. An adaptive controller is designed to compensate the friction effect and it is shown that the proposed controller relaxes the condition for a priori knowledge about the environment characteristics, including the upper and lower bounds of the environment temperature and the parameters of the functions, describing the temperature dependent joint frictions. The stability and convergence of the joint position and velocity are proved in the sense of Lyapunov and then the proposed method is confirmed by the simulations.

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“…In fact, friction force varies with time and this motivates the need of adaptive friction compensation techniques. 13,15,27 Indeed, it has to be recognized that the temperature plays a key role in friction 21,22,25 as friction transforms mechanical energy into heat that causes the temperature to increase 18 and, on the other side, the characteristics of the speed reducers change with the temperature. 37 This issue has been recently investigated thoroughly.…”

Section: Introductionmentioning

confidence: 99%

Modelling the temperature in joint friction of industrial manipulators

Simoni¹,

Beschi²,

Legnani³

et al. 2017

Robotica

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In this paper, a new model for joint dynamic friction of industrial robot manipulators is presented. In particular, the effects of the temperature in the joints are considered. A polynomial-based model is proposed and the parameter estimation is performed without the need of a joint temperature sensor. The use of an observer is then proposed to compensate for the uncertainty in the initial estimation of the temperature value. A large experimental campaign show that the model, in spite of the simplifying assumptions made, is effective in estimating the joint temperature and therefore the friction torque during the robot operations, even for values of velocities that have not been previously employed.

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Adaptive Friction Compensation of Robot Manipulator

Cited by 11 publications

References 10 publications

Pre-compensation Strategy for Tracking Error and Contour Error by Using Friction and Cross-Coupled Control

Pre-compensation Strategy for Tracking Error and Contour Error by Using Friction and Cross-Coupled Control

Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Modelling the temperature in joint friction of industrial manipulators

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