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| Robust tracking of robot manipulator with nonlinear friction using time delay control with gradient estimator
Dong Ki Han
The Journal of Mechanical Science and Technology, vol. 24, no. 8, pp.1743-1752, 2010
Abstract : We propose an enhanced controller to improve the robustness of Time Delay Control (TDC) for a robot manipulator in the presence of
nonlinear friction, such as Coulomb friction. The problem of TDC is first analyzed with TDC as a trajectory control for a robot manipulator
in the presence of nonlinear friction. Gradient estimation is used to solve this problem. The proposed controller is called TDC with
Gradient Estimator (TDCGE). Comparing with a prior research to improve the robustness of TDC, named TDCSA, the TDCGE is much
simpler to design. Through 1 DOF linear motor experiment, it is verified that the TDCGE is more robust against nonlinear friction than
TDC and the TDCGE has a similar robustness to the TDCSA. In addition, it is confirmed that the TDCGE is easily implemented in the
multi degree-of-freedom robot manipulator through a 3 DOF spatial robot manipulator experiment.
Keyword : Robust tracking control; Robot manipulator; Time delay control; Nonlinear friction; Gradient estimation |
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