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TECHNICAL BRIEFS

A Hierarchical Approach to Manipulator Velocity Field Control Considering Dynamic Friction Compensation

[+] Author and Article Information
Javier Moreno-Valenzuela1

Systems and Control,  CITEDI-IPN, Av. Del Parque 1310, Mesa de Otay, Tijuana, B.C., 22510, Mexicomoreno@citedi.mx

Rafael Kelly

 CICESE, Apdo. Postal 2615, Adm. 1, Ensenada, B.C., 22800, Mexicorkelly@cicese.mx

1

Corresponding author.

J. Dyn. Sys., Meas., Control 128(3), 670-674 (Jun 10, 2005) (5 pages) doi:10.1115/1.2234487 History: Received September 12, 2003; Revised June 10, 2005

The velocity field control of robot manipulators is addressed in this paper. The proposed algorithm has a hierarchical structure based on a velocity field kinematic control scheme for joint velocity resolution and an inner loop of joint velocity control that uses an observer for friction compensation. Experiments on a two degrees-of-freedom direct-drive arm illustrate the performance of the proposed controller.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

(a) Trajectory tracking control in Cartesian space; (b) velocity field control in Cartesian space

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Figure 2

Block diagram of the hierarchical velocity field control

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Figure 3

Experimental arm

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Figure 4

Desired velocity field used in experiments

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Figure 5

PD with compensation+viscous friction compensation: Contouring error

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Figure 6

PD with compensation+viscous friction compensation: Cartesian robot path

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Figure 7

PD with compensation+Dahl-based friction compensation: Contouring error

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Figure 8

PD with compensation+Dahl-based friction compensation: Cartesian robot path

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