Friction identification and compensation in robotic manipulators

IEEE Transactions on Instrumentation and Measurement

Volumn 56, Issue 6, 2007, Pages 2346-2353

  Kermani, Mehrdad R ^a,b   Patel, Rajnikant V ^a,b   Moallem, Mehrdad ^c  

^a UNIVERSITY OF WESTERN ONTARIO   (Canada)

^b Canadian Surgical Technologies and Advanced Robotics CSTAR   (Canada)

^c SIMON FRASER UNIVERSITY   (Canada)

Author keywords

Compensation; Friction; Friction compensation; Friction force; Identification; Modeling; Robotic manipulator; Robots

Indexed keywords

ALGORITHMS; DYNAMIC MODELS; FRICTION; IDENTIFICATION (CONTROL SYSTEMS); ROBOTICS;

FRICTION COMPENSATION; FRICTION FORCE; FRICTION IDENTIFICATION;

MANIPULATORS;

EID: 37249023623     PISSN: 00189456     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIM.2007.907957     Document Type: Article

References (17)

1. B. Armstrong, P. Dupont, and C. Canudas de Wit, "A survey of models, analysis tools and compensation methods for the control of machines with friction," Automatica, vol. 30, no. 7, pp. 1083-1138, Jul. 1994.
2. N. Barabanov and R. Ortega, "Necessary and sufficient conditions for passivity of the LuGre friction model," IEEE Trans. Autom. Control vol. 45, no. 4, pp. 830-832, Apr. 2000.
3. P. A. Bliman, "Mathematical study of the Dahl's friction model," Eur. J. Mech., vol. 11, no. 6, pp. 835-848, 1992.
4. P. A. Bliman and M. Sorine, "A system-theoretic approach of systems with hysteresis, application to friction modeling and compensation," in Proc. Eur. Control Conf., Groningen, The Netherlands, 1993, pp. 1844-1849.
5. C. Canudas de Wit and P. Lischinsky, "Adaptive friction compensation with partially known dynamic friction model," Int. J. Adapt. Control Signal Process., vol. 11, no. 1, pp. 65-80, 1997.
6. C. Canudas de Wit, H. Olsson, K. J. Åström, and P. Lischinsky, "A new model for control of systems with friction," IEEE Trans. Autom. Control, vol. 40, no. 3, pp. 419-425, Mar. 1995.
7. P. R. Dahl, "A solid friction model," The Aerosp. Corp., El Segundo, CA, Tech. Rep. TOR-158(3107-18), 1968.
8. N. E. Leonard and P. Krishnaprasad, "Adaptive friction compensation for bi-directional low-velocity position tracking," in Proc. 31st Conf. Decision and Control, Tucson, AZ, 1992, vol. 1, pp. 267-273.
9. D. Haessing and B. Friedland, "On the modeling and simulation of friction," in Proc. Amer. Control Conf., San Diego, CA, 1990, pp. 1256-1261.
10. R. H. A. Hensen, M. van de Molengraft, and M. Steinbuch, "Frequency domain identification of dynamic friction model parameters," IEEE Trans. Control Syst. Technol., vol. 10, no. 2, pp. 191-196, Mar. 2002.
11. R. Kelly, J. Llamas, and R. Campa, "A measurement procedure for viscous and Coulomb friction," IEEE Trans. Instrum. Meas., vol. 49, no. 4, pp. 857-861, Aug. 2000.
12. M. R. Kermani, R. Patel, and M. Moallem, "Flexure control using piezostack actuators: Design and implementation," IEEE/ASME Trans. Mechatronics, vol. 10, no. 2, pp. 181-188, Apr. 2005.
13. M. R. Kermani, R. V. Patel, and M. Moallem, "Study of system parameters and control design for a flexible manipulator using piezo electric transducers," Smart Mater. Struct., vol. 14, no. 4, pp. 843-849, Aug. 2005.
14. R. Lozano, B. Brogliato, O. Egeland, and B. Maschke, Dissipative Systems Analysis and Control, Theory and Applications. London, U.K.: Springer-Verlag, 2000.
15. H. Olsson, K. J. Åström, C. Canudas de Wit, M. Gäfvert, and P. Lischinsky, "Friction models and friction compensation," Eur. J. Control, vol. 4, no. 3, pp. 176-195, 1998.
16. F. Pfeiffer, "Unsteady processes in machines," Chaos, vol. 4, no. 4, pp. 693-705, Dec. 1994.
17. J. Swevers, F. Al-Bender, C. G. Ganseman, and T. Prajogo, "An integrated friction model structure with improved presliding behavior for accurate friction compensation," IEEE Trans. Autom. Control, vol. 45, no. 4, pp. 675-686, Apr. 2000.