Adaptive and robust techniques for friction compensation in motion control of robotic manipulators

摘要

This paper deals with the study of friction compensation methods for motion control of robotic manipulators. First of all, modelling of the friction is carried out decomposing it into three components, Coulomb's, viscous and stiction components. Then, an adaptive model-based control law is designed which includes an adaptive compensation scheme of the modelled friction. Finally, a variable structure robust control loop is designed whose inclusion in an adaptive control scheme designed using a simplified model of the friction allows to obtain better tracking accuracy. Some results of experimental tests, carried out on a two links SCARA manipulator, are displayed with the aim to show the effectiveness of the proposed compensation methods.