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Titolo:
A nonlinear friction compensation method using adaptive control and its practical application to an in-parallel actuated 6-DOF manipulator
Autore:
Ryu, JH; Song, J; Kwon, DS;
Indirizzi:
Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon, South Korea Korea Adv Inst Sci & Technol Taejon South Korea gn, Taejon, South Korea Korea Adv Inst Sci & Technol, Dept Automat & Design Engn, Seoul, South Korea Korea Adv Inst Sci & Technol Seoul South Korea Engn, Seoul, South Korea
Titolo Testata:
CONTROL ENGINEERING PRACTICE
fascicolo: 2, volume: 9, anno: 2001,
pagine: 159 - 167
SICI:
0967-0661(200102)9:2<159:ANFCMU>2.0.ZU;2-F
Fonte:
ISI
Lingua:
ENG
Soggetto:
ROBOT MANIPULATORS; MOTION CONTROL; STICK-SLIP; SYSTEMS; DESIGN;
Keywords:
nonlinear friction; friction compensation; adaptive control; reversed integral control; parallel manipulator;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
23
Recensione:
Indirizzi per estratti:
Indirizzo: Kwon, DS Korea Adv Inst Sci & Technol, Dept Mech Engn, ME 3042, Taejon, South Korea Korea Adv Inst Sci & Technol ME 3042 Taejon South Korea h Korea
Citazione:
J.H. Ryu et al., "A nonlinear friction compensation method using adaptive control and its practical application to an in-parallel actuated 6-DOF manipulator", CON ENG PR, 9(2), 2001, pp. 159-167

Abstract

This paper presents a simple and effective nonlinear friction compensationmethod which is derived from an adaptive control strategy and its practical application to a linear actuator. The proposed adaptive friction compensation method is shown to be equivalent to the reversed integral controller that is easily applied to the conventional PID controller. The reversed integral controller reverses the sign of the integrator output as the sign of the velocity changes. It analyzes how the reversed control action can compensate for friction. The effectiveness of this approach is demonstrated by experiments on a 3-PRPS (Prismatic-Revolute-Prismatic-Spherical joints) in-parallel 6-DOF manipulator. (C) 2001 Published by Elsevier Science Ltd. All rights reserved.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 04/06/20 alle ore 01:31:58