Compensation of nonlinear friction terms is a most challenging application of high resolution encoders, which are nowadays getting available for common industrial motion control and robotic applications. In fact, use of a high resolution sensor allows a neat analysis of the dynamic behavior of friction forces in the presliding regime, and especially of hysteresis loops. Starting from a recently proposed friction model, defining more accurately the presliding regime, a research is presented in this chapter, aimed at devising identification and compensation procedures for friction.
Model Based Friction Compensation
FERRETTI, GIANNI;MAGNANI, GIANANTONIO;ROCCO, PAOLO
2003-01-01
Abstract
Compensation of nonlinear friction terms is a most challenging application of high resolution encoders, which are nowadays getting available for common industrial motion control and robotic applications. In fact, use of a high resolution sensor allows a neat analysis of the dynamic behavior of friction forces in the presliding regime, and especially of hysteresis loops. Starting from a recently proposed friction model, defining more accurately the presliding regime, a research is presented in this chapter, aimed at devising identification and compensation procedures for friction.File in questo prodotto:
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