제어로봇시스템학회:학술대회논문집
- 2000.10a
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- Pages.422-422
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- 2000
Friction Force Detection for Joints of a Parallel Manipulator Using Gravitational Force
중력을 이용한 병렬 매니퓰레이터 구동부의 마찰력 검출
Abstract
Parallel manipulators have been used to a variety of applications, including the motion simulators and mechanism for precise machining. A Stewart-Gough type parallel manipulator is composed of six linear joints which have wider contact areas than revolute ones, so linear joints are more affected by frictional force. First, the reference trajectories are computed from the model of the parallel manipulator assuming that it is subject to only the gravitational force and no friction exists. In the actual operation where friction exists, the control inputs, which correspond to the friction forces, are obtained by forcing the actual joint variables to follow these trojectories by proper control. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.
Keywords
- Stewart-Gough type parallel manipulator;
- friction force detection;
- gravitational force;
- friction compensation