Abstract
In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, computed-torque deviation coupling control strategy based on friction compensation analysis is presented. The mathematical models of the robot which include kinematic model and dynamic model are established. The single joint Lugre friction model is proposed, and the parameters of the friction model are identified by experiment. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with friction compensation and coupling performance of the robot, computed-torque deviation coupling controller is designed and validated by simulation analysis. A servo control experimental system is constructed, and verified that the synchronization error are significantly decreased and the trajectory error is reduced from (−0.8°~1°) to (−0.230°~0.587°) after the friction compensation is added. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot’s trajectory tracking precision significantly.
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Acknowledgments
The authors would like to thank the financial support from the National Natural Science Foundation of China (61305050) and the National High Technology Research and Development Program of China (2015AA043102) and (2015AA043003).
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Yan, Y., Liang, L., Chen, Y., Wang, Y., Liu, Y. (2017). A Method of Computed-Torque Deviation Coupling Control Based on Friction Compensation Analysis. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_69
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DOI: https://doi.org/10.1007/978-3-319-65292-4_69
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