Passivity based control of flexible joint robot with dynamic friction compensation

2014 ◽  
Author(s):  
Qi Zhang ◽  
Xie Zongwu ◽  
Sun Kui ◽  
Haitao Yang ◽  
Minghe Jin ◽  
...  
Keyword(s):  
Friction Compensation ◽  
Dynamic Friction ◽  
Flexible Joint ◽  
Passivity Based Control

Torque Control in Harmonic Drives with Nonlinear Dynamic Friction Compensation

2004 ◽  
Vol 16 (4) ◽  
pp. 388-396 ◽  
Author(s):  
Rached Dhaouadi ◽  
Keyword(s):  
Differential Equation ◽  
Computer Simulation ◽  
Torque Control ◽  
Nonlinear Observer ◽  
Position Tracking ◽  
Friction Compensation ◽  
Dynamic Friction ◽  
Nonlinear Stiffness ◽  
Nonlinear Friction ◽  
Harmonic Drive

This paper proposes a nonlinear observer-based controller designed to compensate for friction in harmonic drives with hysteresis. Hysteresis in a harmonic drive is described by a nonlinear differential equation representing the combination of nonlinear stiffness and nonlinear friction. Nonmeasurable friction is derived using a nonlinear observer to provide asymptotic stability and position tracking. The performance of the proposed system is confirmed by computer simulation.

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