MODEL-BASED DYNAMIC FRICTION COMPENSATION IN ROBOT ACTUATORS

In this paper a novel dynamic friction model is presented. This friction model is an extension of the well-known LuGre friction model. Stribeck effect is now modeled by an additional differential equation, that leads to a second-order dynamic friction model. The main advantage of this new formulatio...

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Bibliographic Details
Published in:International journal of robotics & automation 2015-01, Vol.30 (1), p.1-1
Main Authors: Martínez-Rosas, Juan C, Alvarez-Icaza, Luis, Noriega-Pineda, Daniel
Format: Article
Language:English
Subjects:
Automation
Compensation
Differential equations
Dynamics
Friction
Mathematical models
Motors
Robots
Tracking
Velocity
Online Access:Get full text
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Summary:In this paper a novel dynamic friction model is presented. This friction model is an extension of the well-known LuGre friction model. Stribeck effect is now modeled by an additional differential equation, that leads to a second-order dynamic friction model. The main advantage of this new formulation is the possibility to recover in real time two of the most relevant parameters in friction models, Coulomb and static friction coeficients, which can not be recovered directly in the LuGre friction model. Model properties are analyzed to show that the model captures essential features of friction. Experimental results in an industrial manipulator show good performance of a friction compensation adaptive scheme in velocity tracking tasks, under large initial uncertainty of friction parameters and the presence of load disturbances.
ISSN:0826-8185
1925-7090
DOI:10.2316/Journal.206.2015.1.206-3607