Online Estimation and Compensation of Friction in Industrial Cable Robot Manipulation

摘要

This work deal with on-line estimation and compensation of friction in industrial cable robot manipulation. First, a parametric model is developed for a classical friction model. Then, a recursive least squares on-line friction estimator is presented. Next, a Lyapunov based adaptive controller based on Backstepping scheme is designed to compensate for friction in actuator unit. Finally, we implement the simulation for this design. The simulation results show on-line parameter estimation algorithm and adaptive control scheme have generally achieved desired performance.