Adaptive backstepping control of flexible joint robots with friction compensation based on LuGre model
文献类型：会议论文
| 作者 | Wang XZ(王雪竹) ; Li HY(李洪谊); Wang YC(王越超); Hua JN(化建宁)
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| 出版日期 | 2014 |
| 会议名称 | 26th Chinese Control and Decision Conference, CCDC 2014 |
| 会议日期 | May 31, 2014 - June 2, 2014 |
| 会议地点 | Changsha, China |
| 关键词 | Backstepping Computer simulation Stiction Tribology |
| 页码 | 1484-1489 |
| 中文摘要 | Flexibility, parameter uncertainty and joint friction restrict the control performance of flexible joint robots. In this paper, an adaptive backstepping method with friction compensation is presented for the control of flexible joint robots with parameter inaccuracies, in which the joint friction is described by LuGre model and compensated base on a friction observer, and the inaccuracies of robot parameters are resolved by adaptive parameters estimation. Simulation verifies the effectiveness of the friction compensation method, and shows the proposed controller could achieve good control performance with model inaccuracies. © 2014 IEEE. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 26th Chinese Control and Decision Conference, CCDC 2014
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| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, DC |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-3706-6 |
| WOS记录号 | WOS:000343577701122 |
| 源URL | [http://ir.sia.cn/handle/173321/15162]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang XZ,Li HY,Wang YC,et al. Adaptive backstepping control of flexible joint robots with friction compensation based on LuGre model[C]. 见:26th Chinese Control and Decision Conference, CCDC 2014. Changsha, China. May 31, 2014 - June 2, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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