Model-Free Friction Observers for Flexible Joint Robots With Torque Measurements

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This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By doing so, asymptotic stability and passivity of the controller are maintained. Another advantage of the proposed observer is that it provides a clear understanding for the stiction compensation which is hard to be captured in model-free approaches. This allows to design observers that do not overcompensate for the stiction. The proposed scheme is validated through simulations and experiments.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2019-12
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON ROBOTICS, v.35, no.6, pp.1508 - 1515

ISSN
1552-3098
DOI
10.1109/TRO.2019.2926496
URI
http://hdl.handle.net/10203/275900
Appears in Collection
EE-Journal Papers(저널논문)
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