Cited 16 time in webofscience Cited 17 time in scopus

Robust tracking of robot manipulator with nonlinear friction using time delay control with gradient estimator

Title
Robust tracking of robot manipulator with nonlinear friction using time delay control with gradient estimator
Authors
Han, Dong KiChang, Pyung Hun
Issue Date
2010-08
Citation
Journal of Mechanical Science and Technology, 24(8), 1743-1752
Type
Article
Article Type
Article
Keywords
Robust tracking controlRobot manipulatorTime delay controlNonlinear frictionGradient estimation
ISSN
1738-494X
Abstract
We propose an enhanced controller to improve the robustness of Time Delay Control (TDC) for a robot manipulator in the presence of nonlinear friction, such as Coulomb friction. The problem of TDC is first analyzed with TDC as a trajectory control for a robot manipulator in the presence of nonlinear friction. Gradient estimation is used to solve this problem. The proposed controller is called TDC with Gradient Estimator (TDCGE). Comparing with a prior research to improve the robustness of TDC, named TDCSA, the TDCGE is much simpler to design. Through 1 DOF linear motor experiment, it is verified that the TDCGE is more robust against nonlinear friction than TDC and the TDCGE has a similar robustness to the TDCSA. In addition, it is confirmed that the TDCGE is easily implemented in the multi degree-of-freedom robot manipulator through a 3 DOF spatial robot manipulator experiment. © 2010 The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg.
URI
http://hdl.handle.net/20.500.11750/5821
DOI
10.1007/s12206-010-0516-z
Publisher
대한기계학회
Files:
There are no files associated with this item.
Collection:
ETC1. Journal Articles


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