A robust friction control scheme of robot manipulators

Jeng Shi Chen; Jyh Ching Juang

A robust friction control scheme of robot manipulators

Jeng Shi Chen
, Jyh Ching Juang

電機工程學系

研究成果: Conference article › 同行評審

6 引文斯高帕斯（Scopus）

摘要

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.

原文	English
頁（從 - 到）	3266-3271
頁數	6
期刊	Proceedings - IEEE International Conference on Robotics and Automation
卷	3
出版狀態	Published - 2003 12月 9
事件	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan 持續時間: 2003 9月 14 → 2003 9月 19

All Science Journal Classification (ASJC) codes

軟體
控制與系統工程
人工智慧
電氣與電子工程

其它文件與鏈接

引用此

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AU - Juang, Jyh Ching

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AB - 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.

UR - https://www.scopus.com/pages/publications/0344464930

UR - https://www.scopus.com/pages/publications/0344464930#tab=citedBy

M3 - Conference article

AN - SCOPUS:0344464930

SN - 1050-4729

VL - 3

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EP - 3271

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2003 IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -

A robust friction control scheme of robot manipulators

摘要

All Science Journal Classification (ASJC) codes

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