Friction effects are particularly critical for industrial robots, since they can induce large positioning errors, stick-slip motions, and limit cycles. This paper offers a reasoned overview of the main friction compensation techniques that have been developed in the last years, regrouping them according to the adopted kind of control strategy. Some experimental results are reported, to show how the control performances can be affected not only by the chosen method, but also by the characteristics of the available robotic architecture and of the executed task.

/pdf/friction-compensation-in-robotics-an-overview-1oxk3xfsmj.pdf

Friction Compensation in Robotics: an Overview

High-precision motion control is highly desirable in process and industrial automation, including the domains of machine tools, ultra-precision spindles, micro-manufacturing, biotechnology, disk drive read/write mechanisms, air-bearing positioning stages, etc. However, their performances are limited by various nonlinear factors in the actuators behind the applications, such as friction, creep, force ripples, and hysteresis. In this paper, we focus on the friction compensation schemes, reviewing literature focusing on the intelligent designs of friction compensation in motion control systems. Different types of friction models, from simple to complex structures, are reviewed, followed by detailed discussions on the friction compensation schemes. Finally, we highlight the advantages and disadvantages of the methods in these two categories, and offer recommendations for possible research directions.

Intelligent Friction Compensation: A Review

Dynamic modeling of spatial multi-degree-of-freedom (multi-DOF) parallel motion system is a challenging research because of its multi-closed-loop configuration, in contrast to serial manipulator. This study readdresses the issue of deriving explicit closed-form dynamic equations in the actuation space of non-redundant parallel mechanisms through the Lagrange modeling approach. Due to the complex relationship between passive joint variables and active joint variables, the application of the Lagrangian formulation for dynamic modeling of parallel mechanisms is considered nearly impossible. In this paper, the utilization of the virtual work principle makes the application of the Lagrangian formulation for parallel mechanisms possible and efficient. A closed-loop parallel mechanism is divided into several serial open-loop subchains. Explicit dynamic equations of each subchain can be derived by using the Lagrangian formalism straightforwardly with respect to their own local generalized coordinates. The principle of virtual work is used to combine the differential dynamic equations of the subsystems into an explicit dynamic model of the full parallel manipulator with respect to robot’s active generalized coordinates. The Jacobian and Hessian matrices play a crucial role in the transformation of the dynamic equations with respect to different generalized coordinates due to the application of the virtual work principle. The introduction of the cubic Hessian matrices makes the dynamic equations more compact. The procedure of modeling for a 3-DOF spatial parallel manipulator is taken as an application example of the proposed approach. The efficiency of the proposed approach and the correctness of the dynamic model are demonstrated by simulations and experiments.

Closed-form dynamics of a 3-DOF spatial parallel manipulator by combining the Lagrangian formulation with the virtual work principle

The path planning is one of the key technologies of mobile robot field, which is also the one of the key technologies of intelligent robotics. As the mobile robot path planning is one of the most important and basic problem, path planning of robot has solved the robot movement question in the environment. This paper studies the method of robot path planning-artificial potential field method, which is the most mature, the most stable. In the traditional research of the robot path planning, the target is stationary, but in this paper research object is the mobile robot. So the traditional artificial potential field method is not adapted to this paper. This paper puts forward an improved artificial potential field method based on the traditional artificial potential field method, which can make the robots avoid obstacles while locate and track dynamic target. Finally, the simulation experiment shows the effectiveness of the improved artificial potential field method.

http://ieeexplore.ieee.org/iel7/6959195/6967050/06967319.pdf

Robot motion planning based on improved artificial potential field

Dynamics and Control of Robotic Manipulators with Contact and Friction

In this paper, friction compensation in robotic manipulators is studied. An observer based model of the friction force is utilized for the friction compensation algorithm. In order to evaluate the efficiency of this method two different manipulators with different friction characteristics are examined. A 2-DOF manipulator used for high-speed, micro-meter precision manipulation and a 4-DOF macro manipulator used for long reach positioning task are examined. These manipulators are characterized, according to compensation task classifications (Armstrong, B. et al., 1994), as high-reversal-velocity and low-reversal-velocity tracking tasks, respectively. In each case a steady-state model of friction is experimentally obtained. This model is further utilized in dynamic equations of the friction force during manipulation. It is shown that despite the different nature of the two manipulators the same method can effectively improve the speed and performance of the manipulation in both cases.

Friction compensation in low and high-reversal-velocity manipulators

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Friction compensation in low and high-reversal-velocity manipulators