Adaptive Coulomb and Viscous Friction Compensation Method for Robot Manipulators with Simplified Implementation Technique

In this paper, an adaptive coulomb and viscous friction compensation method has been employed using the filtering technique to reduce the effect of noise in velocity signal of the robot manipulators for tracking the desired trajectory. Additionally, in order to reduce the implementation backwards in DC motors, a simplified direct drive technique has been used. Experimental results have shown an excellent capability of the proposed method even under disturbed conditions

کلیدواژه ها:

Adaptive ، Friction ، Compensation ، Filter ، Control ، Robot ، Manipulator