A robust friction control scheme of robot manipulators

Jeng Shi Chen, Jyh Ching Juang

Research output: Contribution to journalConference article

5 Citations (Scopus)

Abstract

In this paper, the tracking problem is considered for robot manipulators in the presence of static friction, bounded disturbance, and modeling uncertainties. A composite tracking control strategy is proposed in which an adaptive friction estimation is used to estimate the extent of friction and a robust controller is then designed to enhance the overall stability and robustness. Performance issues of robust adaptive friction control are illustrated in simulation made for a two degree of freedom planar robot manipulator.

Original languageEnglish
Pages (from-to)3266-3271
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 2003 Dec 9
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
Duration: 2003 Sep 142003 Sep 19

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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