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A nonlinear friction compensation method using adaptive control and its practical application to an in-parallel actuated 6-DOF manipulator
Affiliation:1. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, ME 3042 Taejon, South Korea;2. Department of Automation and Design Engineering, Korea Advanced Institute of Science and Technology, Seoul, South Korea;1. Department of Physics, Faculty of Science, Naresuan University, Phitsanulok, 65000, Thailand;2. Research Center for Academic Excellence in Applied Physics, Faculty of Science, Naresuan University, Phitsanulok, 65000, Thailand;3. School of Physics, Institute of Science, Suranaree University of Technology, Nakhon Ratchasima, 30000, Thailand;1. George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA;2. Harold and Inge Marcus Department of Industrial and Manufacturing Engineering, The Pennsylvania State University, University Park, PA 16801, USA;1. Department of Chemistry, Graduate School of Science, Osaka University, Machikaneyama 1-1, Toyonaka, Osaka 560-0043, Japan;2. Department of Chemistry, Graduate School of Science and Engineering, Tokyo Institute of Technology, Ookayama 2-12-1, Meguro-Ku, Tokyo, 152-8551, Japan;1. National Tsing Hua University, Taiwan, Republic of China;2. The Institute for Solid State Physics, the University of Tokyo, Chiba, Japan
Abstract:This paper presents a simple and effective nonlinear friction compensation method which is derived from an adaptive control strategy and its practical application to a linear actuator. The proposed adaptive friction compensation method is shown to be equivalent to the reversed integral controller that is easily applied to the conventional PID controller. The reversed integral controller reverses the sign of the integrator output as the sign of the velocity changes. It analyzes how the reversed control action can compensate for friction. The effectiveness of this approach is demonstrated by experiments on a 3-PRPS (Prismatic-Revolute-Prismatic-Spherical joints) in-parallel 6-DOF manipulator.
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