About experimental implementation of friction compensation to position and force control
Robot Control, Volume # 8 | Part# 1
Authors
Francisco J. T. Vargas; Edson R. De Pieri; Eugenio B. Castelan; Cristiane C. Paim
Identifier
10.3182/20060906-3-IT-2910.00044
Index Terms
friction compensation,position and force control,robustness
Abstract
This paper presents an experimental implementation of position and force control of a like industrial manipulator considering robustness and friction compensation aspects. Project of controllers are done using the De Luca and Manes model and a control strategy based on Variable Structure Control (VSC). Practical implementation is done considering tasks as cut of material and tracking reference for force and position. These tasks were implemented in a research SCARA robot, with four degrees of freedom with force sensor and open architecture of control.
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