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An NC Code Based Machining Movement Simulation Method for a Parallel Robotic Machine Read chapter Read first chapter

2017 | OriginalPaper | Chapter

A Method of Computed-Torque Deviation Coupling Control Based on Friction Compensation Analysis

Authors : Yao Yan, Le Liang, Yanyan Chen, Yue Wang, Yanjie Liu

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, computed-torque deviation coupling control strategy based on friction compensation analysis is presented. The mathematical models of the robot which include kinematic model and dynamic model are established. The single joint Lugre friction model is proposed, and the parameters of the friction model are identified by experiment. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with friction compensation and coupling performance of the robot, computed-torque deviation coupling controller is designed and validated by simulation analysis. A servo control experimental system is constructed, and verified that the synchronization error are significantly decreased and the trajectory error is reduced from (−0.8°~1°) to (−0.230°~0.587°) after the friction compensation is added. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot’s trajectory tracking precision significantly.

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Metadata
Title
A Method of Computed-Torque Deviation Coupling Control Based on Friction Compensation Analysis
Authors
Yao Yan
Le Liang
Yanyan Chen
Yue Wang
Yanjie Liu
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65291-7

Electronic ISBN: 978-3-319-65292-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65292-4_69

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