Improved Nonlinear Friction Compensation Method for Robot Joint Driving

摘要

In order to alleviate the steady-state position error and the destabilizing effect of the nonlinear friction, a novel compensation method is presented, which modified the traditional Southward s compensation method. Estimated the nonlinear friction model using an identification method, the effect caused by its nonlinear component can be compensated, and an enhanced tracking performance is verified on a selectively compliant articulated robot arm(SCARA) robot.