Backlash Robotic Systems Compensation by Inverse Model-Based PID Control

摘要

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.