Experimental Identification of Friction and Its Compensation in Precise, Position Controlled Mechanisms

IEEE Transactions on Industry Applications

Volumn 28, Issue 6, 1992, Pages 1392-1398

  Johnson, Craig T ^a   Lorenz, Robert D ^b  

^a HEWLETT PACKARD COMPANY   (United States)

^b UNIVERSITY OF WISCONSIN MADISON   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

FRICTION; IDENTIFICATION (CONTROL SYSTEMS); POSITION CONTROL; SIGNAL PROCESSING;

CLOSED-LOOP CONTROLLER; FRICTION COMPENSATION; ITERATIVE SIGNAL PROCESSING; NONLINEAR FRICTION; POSITIONING ACCURACY;

MECHANISMS;

EID: 0026946139     PISSN: 00939994     EISSN: 19399367     Source Type: Journal    
DOI: 10.1109/28.175293     Document Type: Article

References (11)

1. D. Karnopp, “Computer simulation of stick-slip friction in mechanical dynamic systems,” J. Dyn. Syst. Meas. Contr., vol. 107. Mar. 1985.
2. V. Held and C. Maron, “Estimation of friction characteristics, inertial and coupling coefficients in robotic joints based on current and speed measurements,” in Proc. IFAC Robot Contr. (Karlsruhe, FRG), 1988.
3. T. Kubo, G. Anwar, and M. Tomizuka, “Application of nonlinear friction compensation to robot arm control,” in Proc. Int. Conf. Robotics Automat. (San Francisco), 1986.
4. P.R. Dahl, “Measurement of solid friction parameters of ball bearings,” in Proc. 6th Ann. Symp. Incremental Motion Contr. Syst. Devices (Univ. Illinois, Chicago), 1977.
5. C.D. Walrath, “Adaptive gearing friction compensation based on recent knowledge of dynamic friction,” Automatica, vol. 20, pp. 717–727, 1984.
6. C. Canudas, K.J. Astrom, and K. Braun, “Adaptive friction compensation in dc-motor drives,” J. Robotics Automat., vol. RA-3, no. 6, Dec. 1987.
7. R.D. Lorenz, J.J. Zik, and D.J. Sykora, “A direct-drive, robot parts and tooling gripper with high performance force feedback control,” in IEEE Trans. Industry Applications, vol. 27, no. 2, pp. 275–282, Mar./Apr. 1991.
8. R.D. Lorenz and P.B. Schmidt, “Synchronized motion control for process automation,” in IEEE-IAS Conf. Rec. 1989, pp. 1693–1698.
9. R.D. Lorenz, “Synthesis of state variable controllers for industrial servo drives,” in Proc. Conf. Appl. Motion Contr., June 1986, pp. 247–251.
10. G.W. Younkin, W.D. McGlasson, and R.D. Lorenz, “Considerations for low inertia ac drives in machine tool axis servo applications,” in IEEE Trans. Industry Applications, vol 27, no. 2, pp. 262–268, Mar./Apr. 1991.
11. A.D. Sarkar, Friction and Wear. New York: Academic, 1980.