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