Nonlinear friction modeling for modular robot joints

Tang, Ying-Wen; Sun, Hanxu; Li, Xiao; Song, Jingzhou

doi:10.1142/9789813145603_0110

Cited by 3 publications

(3 citation statements)

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“…There are many methods to model the inverse dynamics; the common ones are Newton Euler method, Lagrange method, Kane equation method, and so on [22]. In this paper, the Lagrange method is used to model the inverse dynamics of the 6‐DOF robot [23].…”

Section: Dynamic Model Of Collaborative Industrial Robotmentioning

confidence: 99%

“…In this paper, the Lagrange method is used to model the inverse dynamics of the 6-DOF robot [23]. We choose mutually independent generalized coordinates 𝜃 i ∈ R n as the state description of the dynamical system, 𝜏 i ∈ R n is the generalized force of the system (i = FIGURE 1 Six-DOF collaborative industrial robot 1, 2...6), and the Lagrange quantity L is obtained from the difference between the kinetic energy K e and the potential energy P e of the system.…”

Section: 𝜃 and Angular Acceleration θmentioning

confidence: 99%

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Model‐based robust control design and experimental validation of collaborative industrial robot system with uncertainty

Zhen

Zhang

Liu

et al. 2022

Asian Journal of Control

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Based on the traditional PID control and robust control algorithm, a novel practical robust control method is designed for the 6-DOF collaborative industrial robot with uncertainty. The proposed algorithm consists of a robust term and a model-based PD control term, which we call MPDP controller. It is demonstrated by Lyapunov theoretical analysis that the algorithm is able to guarantee uniform boundedness and uniform ultimate boundedness of the system. Simulations and experiments show the good performance of MPDP control in a robot with smaller steady-state tracking errors and better robustness compared to PID controllers.

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Section: Dynamic Model Of Collaborative Industrial Robotmentioning

confidence: 99%

Section: 𝜃 and Angular Acceleration θmentioning

confidence: 99%

Model‐based robust control design and experimental validation of collaborative industrial robot system with uncertainty

Zhen

Zhang

Liu

et al. 2022

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…These models are simple and effective, and the parameters are easy to identify, but they can only describe the static characteristics of friction at a constant speed and cannot deal with the friction when reversing. In this case, we use a modified Stribeck friction model with Gaussian compensation term in commutation [26]. The friction can be described as…”

Section: The Establishment Of Dynamic Model Of Scara Robotmentioning

confidence: 99%