A learning approach for feed-forward friction compensation
| Autor: | Stig Moberg, Viktor Johansson, Mikael Norrlöf, Svante Gunnarsson, Erik Hedberg |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
industrial ropots Computer science 020208 electrical & electronic engineering friction Feed forward Model parameters 02 engineering and technology Control Engineering feed-forward compensation learning control Compensation (engineering) 020901 industrial engineering & automation Control and Systems Engineering Control theory Reglerteknik 0202 electrical engineering electronic engineering information engineering splines |
| Zdroj: | SyRoCo |
| Popis: | An experimental comparison of two feed-forward based frictioncompensation methods is presented. The first method is based on theLuGre friction model, using identified friction model parameters, andthe second method is based on B-spline network, where the networkweights are learned from experiments. The methods are evaluated andcompared via experiments using a six axis industrial robot carryingout circular movements of different radii. The experiments show thatthe learning-based friction compensation gives an error reduction ofthe same magnitude as for the LuGre-based friction compensation. LINK-SIC |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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