Adaptive joint friction compensation using a model-based operational space velocity observer
Adaptive joint friction compensation using a model-based operational space velocity observer
复制标题
使用基于模型的操作空间速度观测器进行自适应关节摩擦补偿
DOI：
10.1109/robot.2004.1307530
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
T. Lim
中科院分区：
文献类型：
--
作者：
Q. Xia;S. Lim;M. Ang;T. Lim
提出了一种采用速度观测器和摩擦自适应律实现更高跟踪精度的操作空间控制器。在不进行速度测量的情况下，整个观测器-控制器系统可以对位置和速度跟踪误差以及位置和速度估计误差实现半全局渐近稳定性。估计的摩擦系数也可以渐近地接近实际系数。实验结果表明，该自适应观测器控制器比无摩擦补偿的观测器控制器具有更高的跟踪精度。
An operational space controller that employs a velocity observer and a friction adaptation law to achieve higher tracking accuracy is presented. Without velocity measurements, the overall observer-controller system can achieve a semi-global asymptotic stability for the position and velocity tracking errors, and position and velocity estimation errors. The estimated friction coefficients can also approach the actual coefficients asymptotically. Experimental results indicate that the proposed adaptive observer-controller is able to achieve higher tracking accuracy than the observer-controller without friction compensation.