Joint Torque Servo of a High Friction Robot Manipulator Based on Time-Delay Control with Feed-Forward Friction Compensation

Title
Joint Torque Servo of a High Friction Robot Manipulator Based on Time-Delay Control with Feed-Forward Friction Compensation
Authors
허성문김성균오용환오상록
Keywords
Joint Torque Control; Time-Delay Control; Friction compensation
Issue Date
2012-09
Publisher
IEEE Ro-Man 2012
Citation
, 37-42
Abstract
This paper addresses a torque control method in a high friction robot manipulator. A stiction feed-forward compensator is proposed to eliminate the control problem caused by the nonlinear friction and disturbance. In order to control a robot manipulator with unknown effects, a time-delay control method is used to control the torque. One degree of freedom flexible joint robot manipulator with a joint torque sensor is used to show the performance of the proposed control method.
URI
http://pubs.kist.re.kr/handle/201004/43976
Appears in Collections:
KIST Publication > Conference Paper
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