Backlash Robotic Systems Compensation by Inverse Model-Based PID Control
Fernando da Fonseca Schneider, César Bastos da Silva, Paulo Jefferson Dias de Oliveira Evald, Rodrigo Sousa e Silva, Rodrigo Zelir Azzolin
- Year
- 2019
- Citations
- 6
Abstract
In this work, it is presented a contribution for backlash compensation in robotic systems. For that, a direct model and a inverse model of the backlash are presented. The first model is used to simulate the system, while the second model is applied as the PID (Proportional-Integral-Derivative) control input for backlash compensation. A case study is presented to demonstrate the performance of the proposed control system using a linear welding robot BUGO MDS system. Simulations and experimental results are shown and discussed.
Keywords
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