An adaptive friction compensator for global tracking in robot manipulators
作者： Magnus Gäfvert , Elena Panteley , Romeo Ortega
DOI: 10.1016/S0167-6911(97)00113-8
关键词:
摘要: A novel adaptive friction compensator based on a dynamic model recently proposed in the literature is presented this paper. The ensures global position tracking when applied to an n degree of freedom robot manipulator perturbed by forces with only measurements and velocity, all system parameters (robot model) unknown. Instrumental for solution problem observation that compensation can be recasted as disturbance rejection problem. control signal then designed two steps, first classical controller (strictly) passifies system, relay-based outer-loop rejects disturbance.
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