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Identification and friction compensation for an industrial robot using two degrees of freedom controllers

机译：使用两个自由度控制器的工业机器人识别和摩擦补偿

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In this paper is done the experimental identification of friction parameters in LuGre model using the two degree of freedom controllers (TDOF). With identified parameters, friction compensation is implemented in SCARA industrial robot. For friction compensation is used a velocity observer. Controllers and friction compensation are implemented using the real time language XO/2. Analyses of experimental results for low velocities are presented.

机译：在本文中，使用两个自由度控制器（TDOF）对LuGre模型中的摩擦参数进行了实验识别。通过识别的参数，在SCARA工业机器人中实现了摩擦补偿。为了进行摩擦补偿，使用了速度观测器。控制器和摩擦补偿使用实时语言XO / 2来实现。提出了低速实验结果的分析。

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《》|2004年|p.1146-1151|共6页
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Vargas; F.J.T.; De Fieri; E.R.; Castelan; E.B.;
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中图分类无线电电子学、电信技术;
关键词
identification; friction; industrial manipulators; mechanical variables control; identification compensation; friction compensation; industrial manipulator robot; SCARA robot; velocity observer;

机译：识别;摩擦;工业机械手;机械变量控制;识别补偿;摩擦补偿;工业机械手机器人; SCARA机器人;速度观测器;

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Identification and friction compensation for an industrial robot using two degrees of freedom controllers

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