Experimental study applied to an industrial robot by using variable structure controllers and friction compensation
AUTOR(ES)
Garcia, A., De Pieri, E. R., Guenther, R.
FONTE
Journal of the Brazilian Society of Mechanical Sciences
DATA DE PUBLICAÇÃO
2002-11
RESUMO
Control of an industrial robot is mainly a problem of dynamics. It includes non-linearities, uncertainties and external perturbations that should be considered in the design of control laws. In this work, two control strategies based on variable structure controllers (VSC) and a PD control algorithm are compared in relation to the tracking errors considering friction. The controller's performances are evaluated by adding an static friction model. Simulations and experimental results show it is possible to diminish tracking errors by using a model based friction compensation scheme. A SCARA robot is used to illustrate the conclusions of this paper.
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