Experimental identification of friction and its compensation in precise, position controlled mechanisms

C.T. Johnson, R.D. Lorenz
1992 IEEE transactions on industry applications  
There are two primary objectives of this paper. The first is to present methodologies developed for experimentally determining in most mechanisms. accurate The models second for the objective nonlinear is to friction present inherent alterna-J tive closed-loop controller strategies for decoupling the effect of friction in order to improve positioning accuracy. The identification methodology is novel in the manner in which it extracts the nonlinear friction properties from the closed-loop errors
more » ... closed-loop errors via an iterative signal processing technique. The paper is based on both theoretical modeling and on a practical position control problem that was substantially resolved in developing the methodologies. The application was a robotic gripper with a
doi:10.1109/28.175293 fatcat:u6knllerl5c7pk2kyxvhsftide