A Relay-Based Approach for Robot Motion Control with Joint Friction and gravity Compensation
A Relay-Based Approach for Robot Motion Control with Joint Friction and gravity Compensation
复制标题
DOI：
10.1142/s0219843611002617
复制
发表时间：
2011-12
期刊：
影响因子：
--
通讯作者：
Jia Liu;Jianhua Wu;Z. Xiong;Xiangyang Zhu
中科院分区：
文献类型：
--
作者：
Jia Liu;Jianhua Wu;Z. Xiong;Xiangyang Zhu
本文介绍了一种基于继电器的方法来控制机器人关节的摩擦和重力负载的运动。该方法使用继电器反馈测试来估计包括库仑摩擦、粘性摩擦和重力载荷在内的扰动。继电反馈试验以机器人关节转角作为反馈信号，同时辨识出摩擦力和重力载荷。然后提出了一种控制方案，包括前馈摩擦补偿器和前馈重力补偿器的基础上估计的结果。通过对扰动的适当补偿，该方法提高了机器人系统的跟踪性能。仿真和实验结果验证了该方法的有效性。
This paper introduces a relay-based approach to control the motion of robot joints with friction and gravity load. This approach uses relay feedback tests to estimate the disturbances including Coulomb friction, viscous friction, and the gravity load. The relay feedback tests take the robot joint angular as the feedback signal and identify the friction value and the gravity load at the same time. A control scheme is then presented including a feedforward friction compensator and a feedforward gravity compensator based on the estimated results. With the disturbances properly compensated, the proposed approach improves the tracking performance of a robotic system. Simulation and experimental results are presented to verify the effectiveness of the proposed method.