How to compensate stick-slip friction in neural velocity force control (NVFC) for industrial manipulators
作者： M. Dapper , V. Zahn , R. Maass , R. Eckmiller
DOI: 10.1109/ROBOT.1999.774074
关键词:
摘要: We present a new design of hybrid force/position control NVFC capable friction-compensation, which is mandatory requirement in industrial applications for precise tracking hard surfaces with desired contact force. The architecture consists an outer-loop velocity controller and inner-loop adaptive controller, compensates the friction manipulators joints, significantly improving force performance during slow movements. cascaded ensures approach neural reduced bounce into unknown surface, demanding tasks like deburring or chamfering. resulting system illustrated simulations, consistent velocity/force experiments on 6-DOF manipulator controlled PC-based real-time system.
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