Simulation and Experiment of Friction Modeling and Compensation of Scara

doi:10.16182/j.issn1004731x.joss.17-0269

Abstract

Abstract: Due to the friction of joints, the localization accuracy of Scara robot is deteriorated. To deal with this problem, the friction of robot joints is modeled, identified and compensated. A method of identifying the friction force of robot working in limited working space is proposed. The Lugre friction model is used to describe the joint friction of the robots. By allowing the robot to track the sinusoidal curve, the relationship between the friction torque and the joint velocity is established, and the friction parameters are identified. The adaptive control method is proposed to control the robot. The experiment and simulation are carried out on Scara robot. Compared with the simulation results, which shows that the friction parameters identified have high accuracy. The experimental results show that the proposed adaptive control method can effectively improve the joint localization accuracy of the robot and significantly reduce the acceleration of robot end.

Key words: lugre friction model, method of friction parameters identification, adaptive control, positioning accuracy, scara robot

CLC Number:

TP242.2

Li Lin, Lin Yanlong, Zou Yanbiao. Simulation and Experiment of Friction Modeling and Compensation of Scara[J]. Journal of System Simulation, 2019, 31(8): 1572-1581.

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