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Performance Analysis of Relay Feedback Position Regulators for Manipulators with Coulomb Friction
CITEDI, National Polytechnic Institute, Tijuana, BC, Mexico.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)ORCID iD: 0000-0003-0730-9441
CICESE Research Center, Ensenada, Baja California, Mexico.
CITEDI, National Polytechnic Institute, Tijuana, BC, Mexico.
2013 (English)In: Proc. 12th European Control Conference, NEW YORK, NY 10017 USA: IEEE , 2013, 3754-3759 p.Conference paper, Published paper (Refereed)
Abstract [en]

The purpose of the paper is to analyze the performance of several global position regulators for robot manipulators with Coulomb friction. All the controllers include a proportional-differential part and a switched part whereas the difference between the controllers is in the way of compensation of the gravitational forces. Stability analysis is also revisited within the nonsmooth Lyapunov function framework for the controllers with and without gravity pre-compensation. Performance issues of the proposed controllers are evaluated in an experimental study of a five degrees-of-freedom robot manipulator. In the experiments, we choose two criteria for performance analysis. In the first set of experiments, we set the same gains to all the controllers. In the second set of experiments, the gains of the controller were chosen such that the work done by the manipulator is similar.

Place, publisher, year, edition, pages
NEW YORK, NY 10017 USA: IEEE , 2013. 3754-3759 p.
Keyword [en]
Robot manipulators
National Category
Robotics Control Engineering
Identifiers
URN: urn:nbn:se:umu:diva-88163ISI: 000332509704026ISBN: 978-3-033-03962-9 (print)OAI: oai:DiVA.org:umu-88163DiVA: diva2:713748
Conference
European Control Conference (ECC), 2013
Available from: 2014-04-24 Created: 2014-04-24 Last updated: 2014-04-25Bibliographically approved

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Freidovich, Leonid

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  • asciidoc
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