TY - GEN
T1 - Performance analysis of relay feedback position regulators for manipulators with Coulomb friction
AU - Aguilar, Luis T.
AU - Freidovich, Leonid B.
AU - Orlov, Yury
AU - Merida, Jovan
PY - 2013
Y1 - 2013
N2 - The purpose of the paper is to analyze the performance of several global position regulators for robot manipulators with Coulomb friction. All the controllers include a proportional-differential part and a switched part whereas the difference between the controllers is in the way of compensation of the gravitational forces. Stability analysis is also revisited within the nonsmooth Lyapunov function framework for the controllers with and without gravity pre-compensation. Performance issues of the proposed controllers are evaluated in an experimental study of a five degrees-of-freedom robot manipulator. In the experiments, we choose two criteria for performance analysis. In the first set of experiments, we set the same gains to all the controllers. In the second set of experiments, the gains of the controller were chosen such that the work done by the manipulator is similar.
AB - The purpose of the paper is to analyze the performance of several global position regulators for robot manipulators with Coulomb friction. All the controllers include a proportional-differential part and a switched part whereas the difference between the controllers is in the way of compensation of the gravitational forces. Stability analysis is also revisited within the nonsmooth Lyapunov function framework for the controllers with and without gravity pre-compensation. Performance issues of the proposed controllers are evaluated in an experimental study of a five degrees-of-freedom robot manipulator. In the experiments, we choose two criteria for performance analysis. In the first set of experiments, we set the same gains to all the controllers. In the second set of experiments, the gains of the controller were chosen such that the work done by the manipulator is similar.
UR - http://www.scopus.com/inward/record.url?scp=84893236819&partnerID=8YFLogxK
U2 - 10.23919/ecc.2013.6669495
DO - 10.23919/ecc.2013.6669495
M3 - Contribución a la conferencia
AN - SCOPUS:84893236819
SN - 9783033039629
T3 - 2013 European Control Conference, ECC 2013
SP - 3754
EP - 3759
BT - 2013 European Control Conference, ECC 2013
PB - IEEE Computer Society
T2 - 2013 12th European Control Conference, ECC 2013
Y2 - 17 July 2013 through 19 July 2013
ER -