Friction compensation of an X-Y robot using a Recursive Model Free Controller

摘要

In this paper, a friction compensation scheme for an X-Y robot's model linearization via a Recursive Model Free Controller (RMFC) is proposed. In this scheme, the RMFC uses only the robot's position measurement for feedback and doesn't require knowledge of electromechanical system's parameters, such as parameters in the friction model, rotor inertia, etc. The effectiveness and robustness of the proposed method is experimented on real time X-Y robot system.