直接驱动SCARA机器人动态摩擦补偿自适应PD控制器设计

2014 International Electrical Engineering Congress (iEECON) Pub Date : 2014-03-19 DOI:10.1109/IEECON.2014.6925912

Sunphong Thanok

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引用次数: 3

摘要

针对直接驱动SCARA机器人，设计了一种带动态摩擦补偿的自适应PD控制器。该控制器由PD反馈和自适应前馈组成，分别用于补偿动、静态摩擦。结果表明，补偿动摩擦的控制器具有较小的稳态。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design of an adaptive PD controller with dynamic friction compensation for direct-drive SCARA robot

This paper presents the design of an adaptive PD controller with dynamic friction compensation for Direct-Drive SCARA robot. The controller, composed of a PD feedback and an adaptive feed-forward, is separately designed to compensate dynamic and static friction. It is found that the controller which compensates the dynamic friction has a smaller steady-state.

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2014 International Electrical Engineering Congress (iEECON)

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