Results 181 to 190 of about 504 (216)

Friction compensation based on LuGre model

Proceedings of the 45th IEEE Conference on Decision and Control, 2006
We consider a tracking problem for mechanical systems. It is assumed that feedback controller is designed neglecting some disturbances, which could be approximately modeled by a dynamic LuGre friction model. We are interested to derive an additive observer-based compensator to annihilate or reduce the influence of such a disturbance.
Leonid B. Freidovich, Anders Robertsson, Anton S. Shiriaev, Rolf Johansson 0001   +3 more
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Characteristics and compensation of friction at velocity reversal

Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148), 2001
This paper analyzes the characteristics of pre-sliding friction of the X-Y table of a CNC machining center at velocity reversal, and presents a simple and effective method of friction compensation based on these characteristics. During velocity reversal, friction transits from the pre-sliding regime into the sliding regime, and it must not be ...
Eun-Chan Park, Hyuk Lim, Chong-Ho Choi
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Friction Compensation Via Disturbance Observer

IFAC Proceedings Volumes, 1991
Abstract For the translational movement of a robot arm, which is disturbed by a very strong frictional force, a method is developed to achieve an accurate position control. Therefore, the idealized translar tional degree of freedom, which is represented by a simple second order model, is used as a reference model to the read process.
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Friction Modeling and Compensation for Haptic Interfaces

First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005
Friction cancellation and high gain force feedback are studied for their relative benefits in mitigating the effects of friction in haptic interfaces. Although either technique alone is capable of significant improvements, we find that a combination of approximate cancellation coupled with variable-gain low-bandwidth force feedback provides excellent ...
Nicholas L. Bernstein, Dale A. Lawrence, Lucy Y. Pao   +2 more
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Support Vector Networks in Adaptive Friction Compensation

IEEE Transactions on Neural Networks, 2007
This paper presents our research on how support vector regression (SVR) and parametric adaptive learning, which are normally used independently, can be exploited together to benefit adaptive neural control. In the context of friction compensation for servo-motion control systems, we present the notion of support vector networks which play an essential ...
Guoli Wang 0001, You Fu Li 0001, D. X. Bi   +2 more
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Friction compensation in energy-based bilateral telemanipulation

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
In bilateral telemanipulation algorithms based on time-domain passivity, internal friction in the devices poses an additional energy drain. Based on a model of the friction, the dissipated energy can be estimated and reclaimed inside the energy balance of the control algorithm.
Michel Franken, Sarthak Misra, Stefano Stramigioli   +2 more
openaire   +3 more sources

Demonstrations of Friction Compensation

1991
To demonstrate the accuracy of the friction model open-loop moves were undertaken. For the spatial motions demonstrated in sections 8.1 and 8.2, friction was predicted using a three component model: 1 Kinetic Friction; 2 Viscous Friction 3 A Table Lookup to Compensate for Position-Dependent Friction.
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Dynamic friction compensation in servodrives

Proceedings of IEEE International Conference on Control and Applications CCA-94, 1994
This paper deals with the speed control of a DC servomotor characterised by relevant nonlinear friction. A feedforward compensation of the nonlinear friction is proposed and implemented by using a dynamic model of friction. The error in the controlled system is eliminated by a suitable feedback controller. Experimental results have shown the robustness
null de Carli, null Cong, null Matacchioni   +2 more
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Robust digital friction compensation

Proceedings of the 36th IEEE Conference on Decision and Control, 2002
Even though the compensator proposed by Southward et al. (1991) can guarantee the stability for stick-slip friction systems in continuous time control, applying this to digital control systems may often generate a limit cycle response because of the inherent time delay of sample-and-hold operation.
null Min-Sig Kang, null Won-Gil Song, null Chang-Jae Kim, null Sang-Kook Lee   +3 more
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Compensation Techniques for Servos with Friction

1993 American Control Conference, 1993
Friction compensation is a broad area that has recently been surveyed in [3]. The survey considers over 250 references from the journals of controls, tribology, lubrication engineering, acoustics and general engineering and physics and is perhaps 20 times too large to fit in this conference paper and its companion.
Pierre Dupont, Brian Armstrong-Helouvry
openaire   +1 more source