Nonlinear friction estimation for digital control of direct-drive manipulators

European Control Conference, ECC 2003

Volumn , Issue , 2003, Pages 2685-2690

  Bona, B ^a   Indri, M ^a   Smaldone, N ^a  

^a POLITECNICO DI TORINO   (Italy)

Author keywords

Direct drive manipulator; Experimental validation; Friction; Model identification; Stiction

Indexed keywords

DIGITAL CONTROL SYSTEMS; FRICTION; MANIPULATORS; ROBOT PROGRAMMING; STICTION;

DIRECT DRIVE; EXPERIMENTAL VALIDATIONS; FRICTION MODELING; INERTIAL PARAMETERS; MODEL IDENTIFICATION; NONLINEAR FRICTION; PLANAR MANIPULATOR; TORQUE RECONSTRUCTION;

PARAMETER ESTIMATION;

EID: 84946105484     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.23919/ecc.2003.7086447     Document Type: Conference Paper

References (20)

1. A. Argondizza, B. Bona, and S. Carabelli. Automatic control teaching with matlab and matdsp. In European Control Conference (ECC 97), Brussel, July 1997.
2. B. Armstrong, D. Neevel, and T. Kusik. New results in npid control: Tracking, integral control, friction compensation and experimental results. IEEE Trans. on Control Systems Technology, 9(2):399-406, March 2001.
3. B. Armstrong-Hélouvry. Control of Machines with Friction. Kluwer Academic Publishers, Boston, 1991.
4. B. Armstrong-Hélouvry, P. Dupont, and C. Ca Nudas De Wit. A survey of models, analysis tools and compensation methods for the control of machines with friction. Automatica, 30(7):1083-1138, July 1994.
5. B. Bona and M. Indri. Friction compensation and robustness issues in force/position controlled manipulators. IEE Proceedings, Control Theory and Applications, 142(6):569-574, 1995.
6. B. Bona, M. Indri, and N. Smaldone. Open system real time architecture and software design for robot control. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM01), pages 349-354, Como (Italy), 2001.
7. B. Bona, M. Indri, and N. Smaldone. An experimental setup for modelling, simulation and fast prototyping of mechanical arms. In IEEE Conference on Computer-Aided Control Systems Design, Glasgow (UK), 2002.
8. G. Calafiore, M. Indri, and B. Bona. Robot dynamic calibration: Optimal excitation trajectories and experimental parameter estimation. J. of Robotic Systems, 18(2):55-68, 2001.
9. Y.-Y. Chen, P.-Y. Huang, and J.-Y. Yen. Frequencydomain identification algorithms for servo systems with friction. IEEE Trans. on Control Systems Technology, 10(5):654-665, September 2002.
10. C. Canudas De Wit and P. Lischinsky. Adaptive friction compensation with partially known dynamic friction model. Int. J. of Adaptive Control and Signal Processing, 11:65-80, 1997.
11. C. Canudas De Wit, P. Noël, A. Aubin, and B. Brogliato. Adaptive friction compensation in robot manipulators: Low velocities. Int. J. of Robotics Research, 10(3):189-199, June 1991.
12. C. Canudas De Wit, H. Olsson, K. J. Aarström, and P. Lischinsky. A new model for control of systems with friction. IEEE Trans. on Automatic Control, 40(3):419-425, March 1995.
13. P. Dupont, B. Armstrong, and V. Hayward. Elasto-plastic friction model: contact compliance and stiction. In 2000 American Control Conference, pages 1072-1077, vol. 2, 2000.
14. P. E. Dupont. Friction modeling in dynamic robot simulation. In IEEE International Conference on Robotics and Automation, pages 1370-1376, vol. 2, 1990.
15. R. H. A. Hensen, M. J. G. Van De Molengraft, and M. Steinbuch. Frequency domain identification of dynamic friction model parameters. IEEE Trans. on Control Systems Technology, 10(2):191-196, March 2002.
16. R. M. Hirschorn and G. Miller. Control of nonlinear systems with friction. IEEE Trans. on Control System Technology, 7(5):588-595, September 1999.
17. Y. H. Kim and F. L. Lewis. Reinforcement adaptive learning neural-net-based friction compensation control for high speed and precision. IEEE Trans. on Control System Technology, 8(1):118-126, Jan. 2000.
18. H. Olsson, K. J. Aarström, C. Canudas De Wit, M. Gäfvert, and P. Lischinsky. Friction models and friction compensation. European Journal of Control, (4):176-195, 1998.
19. L. R. Ray, A. Ramasubramanian, and J. Townsend. Adaptive friction compensation using extended kalman-bucy filter friction estimation. Control Engineering Practice, 9:169-179, 2001.
20. J. Swevers, F. Al-Bender, C. G. Ganseman, and T. Prajogo. An integrated friction model structure with improved presliding behaviour for accurate friction compensation. IEEE Trans. on Automatic Control, 45(4):675-686, April 2000.