Friction compensation with estimated velocity
Friction compensation with estimated velocity
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DOI：
10.1109/robot.2002.1013631
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发表时间：
2002-08
期刊：
影响因子：
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通讯作者：
Y. Zhang;Guangjun Liu;A. Goldenberg
中科院分区：
文献类型：
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作者：
Y. Zhang;Guangjun Liu;A. Goldenberg
对极低速下的摩擦补偿问题进行了实验研究。基于两种著名的摩擦模型，对两种已发表的摩擦补偿策略在直接驱动机械臂上进行了实验评估。一种是基于LuGre摩擦模型的自适应非线性动态摩擦补偿方法，另一种是基于摩擦模型参数线性化方法的基于分解的摩擦补偿方法。在实验中，实现了一种新的速度估计方法。在所有测试方法中，该方法显著提高了摩擦补偿的有效性。
The problem of friction compensation at very low velocity is investigated experimentally. Two published friction compensation strategies, based on two well-known friction models, are evaluated experimentally on a direct drive robot arm. One is an adaptive nonlinear dynamic friction compensation method using the LuGre friction model, and the other is a decomposition-based friction compensation method based on a friction model parameter linearization approach. In the experiments, a new velocity estimation method is implemented. The method significantly improves the effectiveness of friction compensation for all tested methods.