Bounded Compensation with Friction Estimation for Accurate Motion Tracking and Compliant Behavior of Industrial Manipulators
Dongwoo Ko,Donghyeon Lee,Wan Kyun Chung,Keehoon Kim,Dongwoo Ko,Donghyeon Lee,Wan Kyun Chung,Keehoon Kim
This paper proposes a control structure for accurate tracking and compliant behavior of industrial manipulators without additional sensors. To achieve control objectives, friction, one of the biggest causes of performance degradation, should be compensated. For tracking performance, the estimated friction cancels most friction effects as a feed-forward, and the modified robust control structure el...
