{"title":"Design of an adaptive PD controller with dynamic friction compensation for direct-drive SCARA robot","authors":"Sunphong Thanok","doi":"10.1109/IEECON.2014.6925912","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":306512,"journal":{"name":"2014 International Electrical Engineering Congress (iEECON)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 International Electrical Engineering Congress (iEECON)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IEECON.2014.6925912","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
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.