Skip to main content
Springer Nature Link
Log in

Experimental results on adaptive friction compensation in robot manipulators: low velocities

  • Section 2: Design
  • Conference paper
  • First Online:
Experimental Robotics I

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 139))

  • 321 Accesses

Abstract

The paper analyzes the problem of modelling and compensation of friction at velocities close to zero. A new model, linear in parameters, which captures the downward bends at low velocity is used to adaptively compensate for friction. The need for this type of models is mainly motivated by instability phenomena that can be caused by overcompensation when simple models (such as Coulomb friction models) are used as a basis for the friction compensation. This model, in combination with an adaptive computed torque method were tested experimentally in a robot manipulator.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Armstrong, B. (1988) "Friction: Experimental Determination, Modeling and Compensation" IEEE International Conference on Robotics and Automation, Philadelphia, U.S.A, Vol. 3, pp. 1422–1427.

    Google Scholar 

  2. Braun K. (1985) "Implementation of an Adaptive Friction Compensation", Report CODEN: LUFTD2/TFRT-7156/1–10 (1985), Dept. of Auto. Control, LTH, Lund, Sweden.

    Google Scholar 

  3. Canudas de Wit, C (1988) "Adaptive Control for Partially Known Systems: Theory and Applications", To appear: Elsevier Science Publishers.

    Google Scholar 

  4. Canudas de Wit, C., K.J. Åström and K. Braun (1986) "Adaptive Friction Compensation in DC Motor Drives", IEEE Conferences on Robotics and Automation, San Francisco, Cal., USA. Also IEEE journal of Robotics and Automation, vol. RA-3, No6, Dec.

    Google Scholar 

  5. Canudas de Wit, C. and Noel, P (1988) "Adaptive Friction Compensation: Application to Industrial Robot". Internal rapport (in French).Laboratory of Automatic Control, ENSIEG, Grenoble.

    Google Scholar 

  6. Dahl, P.R. (1977) "Measurement of Solid Friction Parameters of Ball Bearings", Proc. of 6th Annual Symposium on Incremental Motion Control Systems and Devices, University of Illinois.

    Google Scholar 

  7. Gilbart, J.W. and G.C. Winston (1974) "Adaptive Compensation for an Optical Tracking Telescope", Automatica, vol. 10, pp. 125–131.

    Google Scholar 

  8. Handlykken, M. and T. Turner (1980) "Control System Analysis and Synthesis for a Six Degree-of-freedom Universal Force Reflecting Hand Controller", 9th IEEE Conf. on Decision and Control, vol. 1.

    Google Scholar 

  9. Kubo T., G. Anwar and M. Tomizuka (1986) "Application of Nonlinear Friction Compensation to Robot Arm Control", Proceedings of the 1986, IEEE Conference of an Robotics and Automation, San Francisco, April.

    Google Scholar 

  10. Maiaux, L. (1986) "Compensation adaptive des frottements pour les asservissements avec moteur à courant continu", Rapport Interne (in French), Laboratoire d'Automatique de Grenoble, ENSIEG, France.

    Google Scholar 

  11. Walrath, C.D. (1984) "Adaptive bearing friction compensation based on recent knowledge of dynamic friction", Automatica, Vol. 20, pp. 717–727.

    Google Scholar 

  12. Paul, P. (1972) "Modeling trajectory calculation and servoing of a computer controller arm", Stanford Artificial Intelligence Lab., Stanford Univ., Stanford, CA, A.I. Memo, 177.

    Google Scholar 

  13. Canudas de Wit, C. and Carillo, J. (1988) "A Modified EW-RLS algorithm for systems with Bounded Disturbances", IFAC Conference on Identification and Parameter Estimation", Beijing, China.

    Google Scholar 

  14. Tustin, A. (1947) "The effects of Backlash and of Speed-Dependent Friction on the Stability of Closed-Cycle Control Systems", J. of the Institution of Electrical Engineers, 94(2A): 143–51.

    Google Scholar 

  15. Hersey, M.D. (1966) "Theory and Research in Lubrification", John Wiley and Sons, INC New-York.

    Google Scholar 

  16. Brogliato, B. Aubin, A. and Canudas de Wit, C.(1988) "Stability of Servo-motors under inexact friction compensation", Intemal Raport.

    Google Scholar 

  17. Wu, C.H. and Paul, P. (1980) "Manipulator compliance based on joint torque control", Proc. 9th IEEE Conf. Decision and Control, Vol. 1.

    Google Scholar 

  18. Canudas de Wit, C., P. Noel, A. Aubin, B. Brogliato, and P. Drevet (1988) "Adaptive Friction Compensation in Robots Manipulators: low velocities",IEEE-Conference on Robotics and Automation, Poenix Arizona, USA.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Laboratoire D'Automatique de Grenoble (C.N.R.S. UA 228) Greco (69) "Systèmes Adaptatifs" Ensieg-Inpg, BP 46, 38402, Saint-Martin d'Hères, France

    C. Canudas de Wit

Authors
  1. C. Canudas de Wit
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Vincent Hayward Oussama Khatib

Rights and permissions

Reprints and permissions

Copyright information

© 1990 Springer-Verlag

About this paper

Cite this paper

Canudas de Wit, C. (1990). Experimental results on adaptive friction compensation in robot manipulators: low velocities. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042521

Download citation

  • DOI: https://doi.org/10.1007/BFb0042521

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52182-2

  • Online ISBN: 978-3-540-46917-9

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation