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

2006 ◽  
pp. 196-214 ◽  
Author(s):  
C. Canudas de Wit
Keyword(s):  
Robot Manipulators ◽  
Experimental Results ◽  
Friction Compensation

Adaptive Friction Compensation in Robot Manipulators: Low Velocities

1991 ◽  
Vol 10 (3) ◽  
pp. 189-199 ◽  
Author(s):  
C. Canudas de Wit ◽  
P. Noël ◽  
A. Aubin ◽  
B. Brogliato
Keyword(s):  
Coulomb Friction ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Friction Compensation ◽  
Low Velocity ◽  
New Model ◽  
Friction Models ◽  
Computed Torque ◽  
Simple Models

This article analyzes the problem of modeling 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 adoptively compensate for friction. The need for this type of model 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, was tested experimentally in a robot manipulator.

scholarly journals Design Process of High Dynamics Multi-Link Flexible Robot Manipulators

2017 ◽  
Author(s):  
Thomas Solatges ◽  
Mathieu Rognant ◽  
Sébastien Rubrecht ◽  
Eric Courteille ◽  
Philippe Bidaud
Keyword(s):  
Design Process ◽  
Performance Indicators ◽  
Robot Manipulators ◽  
Experimental Results ◽  
Control Architecture ◽  
Flexible Robot ◽  
Flexible Robots ◽  
Modeling Tool ◽  
And Performance ◽  
High Dynamics

This paper presents a design process based on an advanced flexible robots modeling tool associated with realistic actuators models and pre-defined control architecture. This process implements dedicated feasibility and performance indicators, which are used to evaluate a design and its sensitivity on the considered parameters. The proposed approach is illustrated with theoretical and experimental results obtained with the YAKA robot.

A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs

Robotica ◽  
2013 ◽  
Vol 31 (7) ◽  
pp. 1103-1117 ◽  
Author(s):  
D. J. López-Araujo ◽  
A. Zavala-Río ◽  
V. Santibáñez ◽  
F. Reyes
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Experimental Results ◽  
Gravity Compensation ◽  
Adaptive Scheme ◽  
Adaptive Regulation ◽  
Control Scheme ◽  
Bounded Input ◽  
Adaptive Approaches ◽  
Adaptive Control Scheme

SUMMARYIn this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity compensation. Compared with the adaptive approaches previously developed in a bounded-input context, the proposed scheme guarantees the adaptive regulation objective: globally, avoiding discontinuities in the control expression as well as in the adaptation auxiliary dynamics, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Experimental results corroborate the efficiency of the proposed adaptive scheme.

MASTER-SLAVE SYNCHRONIZATION OF ROBOT MANIPULATORS: EXPERIMENTAL RESULTS

2005 ◽  
Vol 38 (1) ◽  
pp. 367-372 ◽  
Author(s):  
Anne Karin Bondhus ◽  
Kristin Y. Pettersen ◽  
Henk Nijmeijer
Keyword(s):  
Robot Manipulators ◽  
Experimental Results

Actuator Fault Detection and Isolation for Robot Manipulators with the Adaptive Observer

2012 ◽  
Vol 482-484 ◽  
pp. 529-532
Author(s):  
Shao Cong Guo ◽  
Mo Han Yang ◽  
Zi Rui Xing ◽  
Yi Li ◽  
Ji Qing Qiu
Keyword(s):  
Fault Detection ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Experimental Results ◽  
Fault Detection And Isolation ◽  
Adaptive Observer ◽  
Actuator Fault ◽  
Unknown Parameters ◽  
State Observers ◽  
Planar Robot

The fault detection and isolation (FDI) for industrial robot manipulators, subject to faults of actuator, is devised in this paper. An adaptive observer is designed to tackle the robustness problem for unknown parameters due to faults，based on a bank of state observers. By using an adaptive regulating algorithm, the observer is ensured to be stable and the estimated errors are guaranteed to converge. Experimental results are reported for a planar robot under gravity, considering partial failures of the motor torques.

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