Reduction of the Relative Positioning Error of a Machine Vision System Using Friction Compensation
PROCEEDINGS OF 2021 IEEE 30TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE)(2021)
摘要
Friction is a nonlinear phenomenon present in all mechanical systems and significantly impacts the control area. Currently, there exist a large number of systems that require precise positioning control to achieve optimal performance. The present paper seeks to estimate friction torque for a controlled direct-current motor (DC motor) for the positioning laser of a 3D machine vision system. The relative positioning error that causes this phenomenon using the LuGre friction model is identified. Later a feasible solution for high-performance positioning control for the positioning laser using friction compensation is proposed.
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关键词
Friction Estimation, Nonlinear Control, Laser Positioning, Machine Vision System, Computational Simulation
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