Abstract
Through this work, a compensation of the GMS friction in two degree of freedom planar robot manipulator is presented. The compensation is done using an online least square estimator to identify the friction force and then to be injected in the control law. The least square estimator has a linear formulation over the unknown parameters. However, the dynamic equation of the GMS friction needs a switching function to guarantee the transition between its two phases. This switching function is based on the unknown parameters. Therefore, the problem of the switching function was solved using an approximated switching function based on a prior values of the stiffness and the Stribeck coefficients. The compensation of the friction force is validated using an experimental apparatus that generate an experimental position, velocity and acceleration which are used as desired trajectories. The experimental friction force was injected in the joints of the robot manipulator modeled in MATLAB. The performance of the system without compensation of the friction is compared to the performance with compensation of friction force. The performance of the approach proposed showed a good tracking of the desired trajectories using a simple proportional derivative controller.
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