Results 11 to 20 of about 504 (216)
IEEE Access, 2021 In this paper, a new comprehensive dynamic friction model for a collaborative industrial robot joint that considers the velocity, temperature, and load torque is proposed.
Meseret Abayebas Tadese +5 more
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Adaptive friction compensation in dc-motor drives [PDF]
IEEE Journal on Robotics and Automation, 1986 This paper proposes a control scheme where the nonlinear effects of friction are compensated adaptively. When the friction is compensated the motor drive can approximately be described by a constant coefficient linear model. Standard methods can be applied to design a regulator for such a model. This results in a control law which is a combination of a
de Wit, Carlos Canudas +2 more
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Actuators, 2023 This paper aims to highlight the critical role of robot manipulators in industrial applications and elucidate the challenges associated with achieving high-precision control.
Yao Sun, Xichang Liang, Yi Wan
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High-precision velocity control of direct-drive systems based on friction compensation [PDF]
Mechanical SciencesFriction is a complex nonlinear behavior and a significant factor that limits the performance improvement of servo systems. Drawing inspiration from the particular prestiction friction phenomenon exhibited by direct-drive systems upon sudden emergency ...
B. Li, X. Xie, B. Yu, Y. Liao, D. Fan
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Nominal sliding mode control of PMSM based on friction and disturbance compensationNominal sliding mode control of PMSM based on friction and disturbance compensation [PDF]
Royal Society Open ScienceConsidering that the position tracking accuracy of permanent magnet synchronous motor (PMSM) servo systems is easily affected by uncertainties such as friction and load disturbances, this paper proposes a nominal sliding mode control (SMC) with friction ...
Tingting Wang +5 more
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Sensors, 2021 In this paper, a radial basis neural network adaptive sliding mode controller (RBF−NN ASMC) for nonlinear electromechanical actuator systems is proposed.
Wei Ruan +3 more
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International Journal of Advanced Robotic Systems, 2018 The focus of this study is a moment compensation control algorithm driven by a direct current servo motor. Zero moment robot teaching is achieved with a joint moment compensation algorithm.
Saixuan Chen +3 more
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Shock and Vibration, 2021 This paper aims to eliminate nonlinear friction from the performance of the digital hydraulic cylinder to enable it to have good adaptive ability.
Shouling Jiang +5 more
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Actuators, 2023 The friction factor of harmonic reducers affects the transmission accuracy in electromechanical actuators (EMAs). In this study, we proposed a friction feedforward compensation method based on improved active disturbance rejection control (IADRC).
Pan Zhang, Zhaoyao Shi, Bo Yu
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Nonlinear friction dynamic modeling and performance analysis of flexible parallel robot
International Journal of Advanced Robotic Systems, 2020 The article presents a friction dynamic modeling method for a flexible parallel robot considering the characteristics of nonlinear friction. An approximate friction model which is proposed by Kostic et al.
Lei Zhao +4 more
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