OTHER
Design of an adaptive PD controller with dynamic friction compensation for direct-drive SCARA robot
Sunphong Thanok
- 发表年份
- 2014
- 引用次数
- 4
摘要
This paper presents the design of an adaptive PD controller with dynamic friction compensation for Direct-Drive SCARA robot. The controller, composed of a PD feedback and an adaptive feed-forward, is separately designed to compensate dynamic and static friction. It is found that the controller which compensates the dynamic friction has a smaller steady-state.
关键词
SCARAControl theory (sociology)Compensation (psychology)Controller (irrigation)Control engineeringRobotDynamical frictionComputer scienceEngineeringMaterials science
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