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   Articles with "friction compensation" as a keyword



Adaptive fast terminal sliding mode control of robotic manipulators based on joint torque estimation and friction compensation

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recommendations! Published in 2024 at "International Journal of Robust and Nonlinear Control"

DOI: 10.1002/rnc.7624

Abstract: In this work, an adaptive fast terminal sliding mode control (AFSMC) approach based on joint torque estimation and friction compensation is proposed to enhance the trajectory tracking accuracy of robotic manipulators under variable load conditions.… read more here.

Keywords: joint torque; torque estimation; friction compensation; control ... See more keywords

Observer-based friction compensation in heavy-duty parallel robot control

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recommendations! Published in 2021 at "Journal of Mechanical Science and Technology"

DOI: 10.1007/s12206-021-0738-2

Abstract: This paper presents an experimental study on friction compensation for the high-precision tracking control of parallel manipulators. A Luenberger-like observer (LLO) and an extended state observer (ESO) are designed and implemented in real-time control of… read more here.

Keywords: control; friction; observer based; heavy duty ... See more keywords

Friction Compensation and Limit Cycle Suppression at Low Velocities Based on Extended State Observer

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recommendations! Published in 2020 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2020.12.1863

Abstract: Abstract This paper investigates the extended state observer (ESO) based friction compensation at low velocities with only the position measurement. ESO is an effective model-free friction compensation technique and thus is employed in this paper.… read more here.

Keywords: friction; observer; limit cycle; friction compensation ... See more keywords

Stability enhancement of admittance control with acceleration feedback and friction compensation

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recommendations! Published in 2017 at "Mechatronics"

DOI: 10.1016/j.mechatronics.2017.06.011

Abstract: Abstract This paper presents an experimental investigation of a new position control scheme that enhances the stability of admittance control by using: (a) PDD2 (proportional, derivative, and second derivative) feedback, (b) dither-based friction compensation and… read more here.

Keywords: admittance control; control; acceleration; friction compensation ... See more keywords