A learning approach for feed-forward friction compensation
IFAC-PapersOnLine(2018)
摘要
An experimental comparison of two feed-forward based friction compensation methods is presented. The first method is based on the LuGre friction model, using identified friction model parameters, and the second method is based on B-spline network, where the network weights are learned from experiments. The methods are evaluated and compared via experiments using a six axis industrial robot carrying out circular movements of different radii. The experiments show that the learning-based friction compensation gives an error reduction of the same magnitude as for the LuGre-based friction compensation.
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关键词
Friction,feed-forward compensation,splines,learning control,industrial robots
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