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.

Friction Compensation in Robotics: an Overview / Bona, Basilio; Indri, Marina. - STAMPA. - (2005), pp. 4360-4367. (Intervento presentato al convegno 44th IEEE Conference on Decision and Control (CDC 05) and European Control Conference ECC 2005. tenutosi a Siviglia, Spain nel December 2005).

Friction Compensation in Robotics: an Overview.

BONA, Basilio;INDRI, Marina
2005

Abstract

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.
2005
9780780395688
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/1465460
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