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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)
Department机器人学研究室
Conference Name26th Chinese Control and Decision Conference, CCDC 2014
Conference DateMay 31, 2014 - June 2, 2014
Conference PlaceChangsha, China
Source Publication26th Chinese Control and Decision Conference, CCDC 2014
PublisherIEEE Computer Society
Publication PlaceWashington, DC
2014
Pages1484-1489
Indexed ByEI ; CPCI(ISTP)
EI Accession number20143218039253
WOS IDWOS:000343577701122
Contribution Rank1
ISBN978-1-4799-3706-6
KeywordBackstepping Computer Simulation Stiction Tribology
AbstractFlexibility, 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.
Language英语
Citation statistics
Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15162
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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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