Abstract
Non linear effects of friction at low velocities may lead to “stick slip motion”. A control scheme, which decreases this “stick slip” and increases position tracking accuracy of the servo system is described. This paper takes two previous results: A friction controller described in (Li and Cook, 1998) and position dependent friction characteristics described in (Armstrong-Helouvry, 1991)and (Popovic and Goldenberg, 1998), to give an improved friction controller. The controller uses a static friction lookup table to apply a series of pulses of varying widths and magnitudes. Experimental results show the friction controllers performance when implemented on an industrial robot.
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