Abstract
In this paper a tracking control algorithm is introduced for robotic systems with unknown friction in the joints and unknown payload mass and inertia. To perform the adaptive payload compensation, the effect of the payload on dynamic behaviour of the machine is separated from the robot arm dynamics. For adaptive compensation of dynamic LuGre friction, a piecewise linearly parameterized friction model is developed. The tracking performances of the introduced control algorithm is analysed using Lyapunov techniques. Simulation results are presented to show the applicability of the control algorithm.
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