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Adaptive backstepping control of flexible joint robots with friction compensation based on LuGre model
Wang XZ(王雪竹); Li HY(李洪谊); Wang YC(王越超); Hua JN(化建宁)
作者部门机器人学研究室
会议名称26th Chinese Control and Decision Conference, CCDC 2014
会议日期May 31, 2014 - June 2, 2014
会议地点Changsha, China
会议录名称26th Chinese Control and Decision Conference, CCDC 2014
出版者IEEE Computer Society
出版地Washington, DC
2014
页码1484-1489
收录类别EI ; CPCI(ISTP)
EI收录号20143218039253
WOS记录号WOS:000343577701122
产权排序1
ISBN号978-1-4799-3706-6
关键词Backstepping Computer Simulation Stiction Tribology
摘要Flexibility, parameter uncertainty and joint friction restrict the control performance of flexible joint robots. In this paper, an adaptive backstepping method with friction compensation is presented for the control of flexible joint robots with parameter inaccuracies, in which the joint friction is described by LuGre model and compensated base on a friction observer, and the inaccuracies of robot parameters are resolved by adaptive parameters estimation. Simulation verifies the effectiveness of the friction compensation method, and shows the proposed controller could achieve good control performance with model inaccuracies. © 2014 IEEE.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15162
专题机器人学研究室
作者单位1.University of Chinese Academy of Sciences, Beijing 100049, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Northeastern University, Shenyang 110004, China
推荐引用方式
GB/T 7714
Wang XZ,Li HY,Wang YC,et al. Adaptive backstepping control of flexible joint robots with friction compensation based on LuGre model[C]. Washington, DC:IEEE Computer Society,2014:1484-1489.
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