Paper Info
Title
A Method of Computed-Torque Deviation Coupling Control Based on Friction Compensation Analysis.
Abstract
In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, computed-torque deviation coupling control strategy based on friction compensation analysis is presented. The mathematical models of the robot which include kinematic model and dynamic model are established. The single joint Lugre friction model is proposed, and the parameters of the friction model are identified by experiment. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with friction compensation and coupling performance of the robot, computed-torque deviation coupling controller is designed and validated by simulation analysis. A servo control experimental system is constructed, and verified that the synchronization error are significantly decreased and the trajectory error is reduced from (−0.8°~1°) to (−0.230°~0.587°) after the friction compensation is added. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot’s trajectory tracking precision significantly.
Year
Venue
Field
2017
ICIRA
Control theory,Torque,Kinematics,Coupling,Control theory,Servo control,Engineering,Mathematical model,Robot,Trajectory
DocType
Citations 
PageRank 
Conference
0
0.34
References 
Authors
6
5
Name
Order
Citations
PageRank
Yao Yan100.34
Le Liang242320.61
Yanyan Chen3163.59
Yue Wang4960143.63
Yanjie Liu521.06