Journal of System Simulation
Abstract
Abstract: Due to the friction of joints, the localization accuracy of Scara robot is deteriorated. To deal with this problem, the friction of robot joints is modeled, identified and compensated. A method of identifying the friction force of robot working in limited working space is proposed. The Lugre friction model is used to describe the joint friction of the robots. By allowing the robot to track the sinusoidal curve, the relationship between the friction torque and the joint velocity is established, and the friction parameters are identified. The adaptive control method is proposed to control the robot. The experiment and simulation are carried out on Scara robot. Compared with the simulation results, which shows that the friction parameters identified have high accuracy. The experimental results show that the proposed adaptive control method can effectively improve the joint localization accuracy of the robot and significantly reduce the acceleration of robot end.
Recommended Citation
Lin, Li; Lin, Yanlong; and Zou, Yanbiao
(2019)
"Simulation and Experiment of Friction Modeling and Compensation of Scara,"
Journal of System Simulation: Vol. 31:
Iss.
8, Article 11.
DOI: 10.16182/j.issn1004731x.joss.17-0269
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol31/iss8/11
First Page
1572
Revised Date
2017-07-25
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.17-0269
Last Page
1581
CLC
TP242.2
Recommended Citation
Li Lin, Lin Yanlong, Zou Yanbiao. Simulation and Experiment of Friction Modeling and Compensation of Scara[J]. Journal of System Simulation, 2019, 31(8): 1572-1581.
DOI
10.16182/j.issn1004731x.joss.17-0269
Included in
Artificial Intelligence and Robotics Commons, Computer Engineering Commons, Numerical Analysis and Scientific Computing Commons, Operations Research, Systems Engineering and Industrial Engineering Commons, Systems Science Commons