FPGA-based adaptive friction compensation for precision control of harmonic drivers

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 4657-4662

  Zhu, Wen Hong ^a  

^a CANADIAN SPACE AGENCY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE FRICTION COMPENSATION; BRUSHLESS MOTORS; CLOCK RATE; FPGA DEVICES; HARMONIC DRIVE; HIGH-PERFORMANCE COMPUTING; HIGH-PRECISION POSITION; LUGRE FRICTION MODEL; MAXIMUM VELOCITY; PARAMETER ADAPTATION; PARAMETER UNCERTAINTY; POSITION TRACKING ERRORS; PRECISION CONTROL; RE-CONFIGURABLE; VELOCITY ESTIMATORS; VELOCITY SIGNALS;

BRUSHLESS DC MOTORS; DRIVES; HARMONIC ANALYSIS; RECONFIGURABLE HARDWARE; ROBOTICS; STICTION; TRIBOLOGY;

FIELD PROGRAMMABLE GATE ARRAYS (FPGA);

EID: 77955817613     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509144     Document Type: Conference Paper

References (23)

1. U Meyer-Baese, Digital Signal Processing with Field Programmable Gate Arrays, Springer, 2007.
2. S. J. Melnikoff, P. B. James-Roxby, S. F. Quigley, and M. J. Russell, "Reconfigurable computing for speech recognition: preliminary findings," in Field-Programmable Logic and Applications: The Roadmap to Reconfigurable Computing, Springer Berlin, 2000.
3. B. A. Draper, J. R. Beveridge, A. P. W. Bohm, C. Ross, and M. Chawathe, "Accelerated image processing on FPGAs," IEEE Trans. Image Processing, vol. 12, no. 12, pp. 1543-1551, 2003.
4. J. Varghese, M. Butts, and J. Batcheller, "An efficient logic emulation system,", IEEE Trans. Very Large Scale Integration (VLSI) Systems, vol. 1, no. 2, pp. 171-174, 1993.
5. H. B. Christophersen, W. J. Pickell, A. A. Koller, S. K. Kannan, and E. N. Johnson, "Small adaptive flight control systems for UAVs using FPGA/DSP technology," AIAA 3rd "Unmanned Unlimited" Technical Conference, Workshop and Exhibit, Chicago, Illinois, Sep. 20-23, 2004.
6. J. Swevers, F. Al-Bender, C. Ganseman, and T. Prajogo, "An integrated friction model structure with improved presliding behavior for accurate friction compensation," IEEE Trans. Automatic Control, vol. 45, no. 4, pp. 675-686, 2000.
7. T. D. Tuttle and W. P. Seering, "A nonlinear model of a harmonic drive gear transmission," IEEE Trans. Robotics and Automation, vol. 12, no. 3, pp. 368-374, 1996.
8. W.-H. Zhu, "Precision control of robots with harmonic drives," Proc. of 2007 IEEE Int. Conf. Robotics and Automation, pp. 3831-3836, Rome, Italy, 2007.
9. C. Canudas de Wit, H. Olsson, K. J. Aström, and P. Lischinsky, "A new model for control of systems with friction," IEEE Trans. Automatic Control, vol. 40, no. 3, pp. 419-425, 1995.
10. K. J. Aström and C. Canudas de Wit, "Revisiting the LuGre friction model," IEEE Control Systems Magazine, vol. 28, no. 6, pp. 101-114, 2008.
11. F. Al-Bender and J. Swevers, "Characterization of friction froce dynamics," IEEE Control Systems Magazine, vol. 28, no. 6, pp. 64-81, 2008.
12. W.-H. Zhu and T. Lamarche, "Velocity estimation by using position and acceleration sensors," IEEE Trans. Industrial Electronics, vol. 54, no. 5, pp. 2706-2715, 2007.
13. P. Bhatti and B. Hannaford, "Single-chip velocity measurement system for incremental optical encoders," IEEE Trans. Control Systems Technology, vol. 5, no. 6, pp. 654-661, 1997.
14. G. Liu, A. A. Goldenberg, and Y. Zhang, "Precise slow motion control of a direct-drive robot arm with velocity estimation and friction compensation," Mechatronics, vol. 14, no. 7, pp. 821-834, 2004.
15. C. J. Hasser, "Direct velocity estimation for encoders using nonlinear period measurement," US Patent 6,704,683 B1, 2004.
16. W.-H. Zhu, Y.-G. Xi, Z.-J. Zhang, Z. Bien, and J. De Schutter, "Virtual decomposition based control for generalized high dimensional robotic systems with complicated structure," IEEE Trans. Robotics and Automation, vol. 13, no. 3, pp. 411-436, 1997.
17. W.-H. Zhu and T. Lamarche, "Modular robot manipulators based on virtual decomposition control," Proc. of 2007 IEEE Int. Conf. Robotics and Automation, pp. 2235-2240, Rome, Italy, 2007.
18. T. Lamarche and W.-H. Zhu, "A virtual decomposition control based communication network for modular robots applications," Proc. of 16th Int. Conf. Computer Communications and Networks (ICCCN 2007), pp. 1321-1326, Honolulu, Hawaii, USA, August 2007.
19. W.-H. Zhu, and J. De Schutter, 1999, "Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition," IEEE Trans. Robotics and Automation, vol. 15, no. 2, pp. 310-317.
20. W.-H. Zhu and S. E. Salcudean, "Stability guaranteed teleoperation: an adaptive motion/force control approach," IEEE Trans. Automatic Control, vol. 45, no. 11, pp. 1951-1969, 2000.
21. G. Tao, 1997, "A Simple Alternative to the Barbǎlat Lemma," IEEE Trans. Automatic Control, vol. 42, no. 5, p. 698.
22. W.-H. Zhu, E. Dupuis, and M. Doyon, "Adaptive control of harmonic drives," ASME J. Dynamic Systems, Measurement, and Control, vol. 129, pp. 182-193, March 2007.
23. W.-H. Zhu, H. T. Chen, and Z. J. Zhang, "A variable structure robot control algorithm with an observer," IEEE Trans. Robotics and Automation, vol. 8, no. 4, pp. 486-492, 1992.