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Please use this identifier to cite or link to this item: http://hdl.handle.net/1959.3/46525
- Title
- A 3-step set-point control algorithm for robot arms
- Author(s)
- Quach, Nghe Huan; Liu, Ming
- Abstract
- For robot arm set-point control, a novel PD based algorithm for the estimation and compensation of gravity force and static friction is proposed. Based on the linear-in-parameter property of the gravity force and the steady state feature of PD set-point control, the algorithm modifies the set-points according to the steady state position errors. Using the steady state equations near the given set-points the unknown static friction force and gravity force can be calculated on-line. This information can then be used to compensate the affects of gravity force and static friction to eliminate set-point errors.
- Publication type
- Conference paper
- Source
- Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2000), San Francisco, California, United States, 24-28 April 2000, Vol. 2, pp. 1296-1301
- Publication year
- 2000
- Keyword(s)
- Algorithms; Error compensation; Force control; Friction; Gravitational effects; Motion control; Robotic arms; Static friction force; Torque; Two term control systems; Three step set point control
- Publisher
- IEEE
- ISBN
- 1050-4729
- Publisher URL
- http://dx.doi.org/10.1109/ROBOT.2000.844777
- Copyright
- Copyright © 2000 IEEE.
- Peer reviewed
