Joint torque servo of a high friction robot manipulator based on time-delay control with feed-forward friction compensation

This paper addresses a torque control method in a high friction robot manipulator. A stiction feed-forward compensator is proposed to eliminate the control problem caused by the nonlinear friction and disturbance. In order to control a robot manipulator with unknown effects, a time-delay control met...

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Bibliographic Details
Main Authors: Sung-moon Hur, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
Format: Conference Proceeding
Language:English
Subjects:
Friction
Joints
Manipulator dynamics
Robot sensing systems
Torque
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Description
Summary:This paper addresses a torque control method in a high friction robot manipulator. A stiction feed-forward compensator is proposed to eliminate the control problem caused by the nonlinear friction and disturbance. In order to control a robot manipulator with unknown effects, a time-delay control method is used to control the torque. One degree of freedom flexible joint robot manipulator with a joint torque sensor is used to show the performance of the proposed control method.
ISSN:1944-9445
1944-9437
DOI:10.1109/ROMAN.2012.6343728