Abstract
Most of existing friction compensation techniques are based on friction models that uses the velocity as its input. These methods are difficult to apply to inexpensive encoder-based actuator systems that do not exhibit sufficiently large presliding displacement. This paper presents a new method of friction compensation that can be applied to geared actuators with high presliding stiffness. The compensator consists of three components that compensate: (a) static friction, (b) rate-dependent kinetic friction, and (c) dynamic friction involving presliding viscoelasticity. The first component employs dither-like torque command, and the other two are based on friction models involving precalibrated parameters. The proposed method is validated through experiments employing a harmonic drive transmission. In particular, it is suggested that the dither-like static friction compensation and the viscosity in the presliding model significantly improve the performance of the compensator.
| Original language | English |
|---|---|
| Article number | 011007 |
| Journal | Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME |
| Volume | 137 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - Jan 2015 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Information Systems
- Instrumentation
- Mechanical Engineering
- Computer Science Applications