The Experts below are selected from a list of 3738 Experts worldwide ranked by ideXlab platform
Yangquan Chen - One of the best experts on this subject based on the ideXlab platform.
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ROBIO - Time Periodical Adaptive Friction Compensation
2004 IEEE International Conference on Robotics and Biomimetics, 2004Co-Authors: Yangquan ChenAbstract:In this paper, the adaptive Compensation of Coulomb Friction is considered where the Coulomb Friction coefficient is unknown but can be time-varying with a known period. Detailed stability analysis is given with some demonstrative simulation results. The major contributions of this paper is a periodic adaptive control law for Friction Compensation in nonlinear electromechanical systems not satisfying local and global Lipschitz condition
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Time Periodical Adaptive Friction Compensation
2004 IEEE International Conference on Robotics and Biomimetics, 2004Co-Authors: Yangquan ChenAbstract:In this paper, the adaptive Compensation of Coulomb Friction is considered where the Coulomb Friction coefficient is unknown but can be time-varying with a known period. Detailed stability analysis is given with some demonstrative simulation results. The major contributions of this paper is a periodic adaptive control law for Friction Compensation in nonlinear electromechanical systems not satisfying local and global Lipschitz condition
Y. Zhang - One of the best experts on this subject based on the ideXlab platform.
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precise slow motion control of a direct drive robot arm with velocity estimation and Friction Compensation
Mechatronics, 2004Co-Authors: A A Goldenberg, Y. ZhangAbstract:Precise low speed motion control of a robot manipulator calls for precise position and velocity measurement and joint Friction Compensation, as well as robustness and adaptability of the control scheme. However, precise velocity measurement and Friction Compensation remain challenging research tasks, especially for very slow motions. In the present work, a simple and efficient method is proposed to estimate velocity from a sampled incremental encoder pulse train, which is then utilized in the experimental investigation on a proposed robust decomposition-based Friction Compensation method. The experimental results on a direct drive robot arm have demonstrated precise motion control at very slow speeds and in the presence of significant joint Friction.
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Friction Compensation with estimated velocity
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002Co-Authors: Y. Zhang, A.a. GoldenbergAbstract:The problem of Friction Compensation at very low velocity is investigated experimentally. Two published Friction Compensation strategies, based on two well-known Friction models, are evaluated experimentally on a direct drive robot arm. One is an adaptive nonlinear dynamic Friction Compensation method using the LuGre Friction model, and the other is a decomposition-based Friction Compensation method based on a Friction model parameter linearization approach. In the experiments, a new velocity estimation method is implemented. The method significantly improves the effectiveness of Friction Compensation for all tested methods.
K.j. Astrom - One of the best experts on this subject based on the ideXlab platform.
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Friction and Friction Compensation in the Furuta pendulum
1999 European Control Conference (ECC), 1999Co-Authors: M. Gafvert, J. Svensson, K.j. AstromAbstract:Inverted pendulums are very well suited to investigate Friction phenomena and Friction Compensation because the effects of Friction are so clearly noticeable. This paper analyses the effect of fiction on the Furuta pendulum. It is shown that Friction in the arm drive may cause limit cycles. The limit cycles are well predicted by common Friction models. It is also shown that the amplitudes of the limit cycles can be reduced by Friction Compensation. Compensators based on the Coulomb Friction model and the LuGre model are discussed. Experiments performed show that reduction of the effects of Friction can indeed be accomplished.
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Friction models and Friction Compensation
European Journal of Control, 1998Co-Authors: H. Olsson, K.j. Astrom, M. Gafvert, P. LischinskyAbstract:This paper reviews Friction phenomena and Friction models of interest for automatic control. Particular emphasis is given to two recently developed dynamic Friction models: the Bliman-Sorine model and the LuGre model. These models capture many Frictional phenomena observed in laboratory experiments. The behaviours of the models in different situations are discussed in detail. Methods for Friction Compensation are presented and illustrated with results from practical experiments.
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Observer-based Friction Compensation
Proceedings of 35th IEEE Conference on Decision and Control, 1996Co-Authors: H. Olsson, K.j. AstromAbstract:This paper treats model-based Friction Compensation using a dynamic Friction model. The Compensation requires an observer for an unknown state. Properties of an observer are explored and used to derive control strategies. The observer-based control strategy is explored in an example. Its performance is investigated in terms of sensitivity to model errors and noise.
Allison M Okamura - One of the best experts on this subject based on the ideXlab platform.
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Friction Compensation for a force feedback telerobotic system
International Conference on Robotics and Automation, 2006Co-Authors: M Mahvash, Allison M OkamuraAbstract:This paper presents a model-based approach to cancel Friction in the joints of the manipulators of a force-feedback telerobotic system. Friction Compensation can improve the transparency of telerobotic systems, where transparency is quantified in terms of a match between the impedance of the environment and the impedance transmitted to the user. We used Dahl Friction models to compensate for physical Friction in the device. Experiments performed on a telerobotic system demonstrated that teleoperation transparency is improved by using these models. Further, the stability of the teleoperation is analyzed using passivity theory, and it is shown that the master-slave system remains stable up to a certain level of Friction Compensation
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ICRA - Friction Compensation for a force-feedback telerobotic system
Proceedings 2006 IEEE International Conference on Robotics and Automation 2006. ICRA 2006., 2006Co-Authors: M Mahvash, Allison M OkamuraAbstract:This paper presents a model-based approach to cancel Friction in the joints of the manipulators of a force-feedback telerobotic system. Friction Compensation can improve the transparency of telerobotic systems, where transparency is quantified in terms of a match between the impedance of the environment and the impedance transmitted to the user. We used Dahl Friction models to compensate for physical Friction in the device. Experiments performed on a telerobotic system demonstrated that teleoperation transparency is improved by using these models. Further, the stability of the teleoperation is analyzed using passivity theory, and it is shown that the master-slave system remains stable up to a certain level of Friction Compensation
Shuzhi Sam Ge - One of the best experts on this subject based on the ideXlab platform.
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adaptive Friction Compensation of servo mechanisms
International Journal of Systems Science, 2001Co-Authors: Shuzhi Sam GeAbstract:In this paper, adaptive Friction Compensation is investigated using both model-based and neural network (non-model-based) parametrization techniques. After a comprehensive list of commonly used models for Friction is presented, model-based and non-modelbased adaptive Friction controllers are developed with guaranteed closed-loop stability. Intensive computer simulations are carried out to show the effectiveness of the proposed control techniques, and to illustrate the effects of certain system parameters on the performance of the closed-loop system. It is observed that as the Friction models become complex and capture the dominate dynamic behaviours, higher feedback gains for model-based control can be used and the speed of adaptation can also be increased for better control performance. It is also found that neural networks are suitable candidate for Friction modelling and adaptive controller design for Friction Compensation.
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Adaptive Friction Compensation of servo mechanisms
Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328), 1999Co-Authors: Shuzhi Sam GeAbstract:Adaptive Friction Compensation is investigated using both model-based and neural network (non-model-based) parameterization techniques. Intensive computer simulations are carried out to show the effectiveness of the proposed control techniques, and to illustrate the effects of certain system parameters on the performance of the closed-loop system.
