Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties

Yi Ren; Yang Zhou; Yikun Gu; Yechao Liu; Minghe Jin; Hong Liu

doi:10.1109/ROBIO.2016.7866309

Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties

Yi Ren
, Yang Zhou
, Yikun Gu^*
, Yechao Liu
, Minghe Jin
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
CAS - Beijing Institute of Control Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, a novel robust adaptive controller is proposed to simultaneously cope with the unknown nonlinear backlash, friction and dynamic uncertainties in the 3-DOF robotic head system. Inverse backlash compensation with on-line backlash parameter estimation and model-based friction compensation with off-line Stribeck friction identification are incorporated into this robust adaptive scheme. By parametrically linearizing the system dynamic equation, dynamic uncertainties are estimated. This controller is mathematically derived by using Lyapunov stability analysis. Simulation results are presented to show the high tracking performance of the controller.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	124-130
Number of pages	7
ISBN (Electronic)	9781509043644
DOIs	https://doi.org/10.1109/ROBIO.2016.7866309
State	Published - 2016
Event	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: 3 Dec 2016 → 7 Dec 2016

Publication series

Name	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Conference

Conference	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Country/Territory	China
City	Qingdao
Period	3/12/16 → 7/12/16

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10.1109/ROBIO.2016.7866309

Cite this

Ren, Y., Zhou, Y., Gu, Y., Liu, Y., Jin, M., & Liu, H. (2016). Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 124-130). Article 7866309 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866309

Ren, Yi ; Zhou, Yang ; Gu, Yikun et al. / Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties. 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 124-130 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016).

@inproceedings{58410a0daa794e62b0949f15215d2d81,

title = "Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties",

abstract = "In this paper, a novel robust adaptive controller is proposed to simultaneously cope with the unknown nonlinear backlash, friction and dynamic uncertainties in the 3-DOF robotic head system. Inverse backlash compensation with on-line backlash parameter estimation and model-based friction compensation with off-line Stribeck friction identification are incorporated into this robust adaptive scheme. By parametrically linearizing the system dynamic equation, dynamic uncertainties are estimated. This controller is mathematically derived by using Lyapunov stability analysis. Simulation results are presented to show the high tracking performance of the controller.",

author = "Yi Ren and Yang Zhou and Yikun Gu and Yechao Liu and Minghe Jin and Hong Liu",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 ; Conference date: 03-12-2016 Through 07-12-2016",

year = "2016",

doi = "10.1109/ROBIO.2016.7866309",

language = "英语",

series = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "124--130",

booktitle = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

address = "美国",

}

Ren, Y, Zhou, Y, Gu, Y , Liu, Y , Jin, M & Liu, H 2016, Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties. in 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866309, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Institute of Electrical and Electronics Engineers Inc., pp. 124-130, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, 3/12/16. https://doi.org/10.1109/ROBIO.2016.7866309

Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties. / Ren, Yi; Zhou, Yang; Gu, Yikun et al.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 124-130 7866309 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties

AU - Ren, Yi

AU - Zhou, Yang

AU - Gu, Yikun

AU - Liu, Yechao

AU - Jin, Minghe

AU - Liu, Hong

PY - 2016

Y1 - 2016

N2 - In this paper, a novel robust adaptive controller is proposed to simultaneously cope with the unknown nonlinear backlash, friction and dynamic uncertainties in the 3-DOF robotic head system. Inverse backlash compensation with on-line backlash parameter estimation and model-based friction compensation with off-line Stribeck friction identification are incorporated into this robust adaptive scheme. By parametrically linearizing the system dynamic equation, dynamic uncertainties are estimated. This controller is mathematically derived by using Lyapunov stability analysis. Simulation results are presented to show the high tracking performance of the controller.

AB - In this paper, a novel robust adaptive controller is proposed to simultaneously cope with the unknown nonlinear backlash, friction and dynamic uncertainties in the 3-DOF robotic head system. Inverse backlash compensation with on-line backlash parameter estimation and model-based friction compensation with off-line Stribeck friction identification are incorporated into this robust adaptive scheme. By parametrically linearizing the system dynamic equation, dynamic uncertainties are estimated. This controller is mathematically derived by using Lyapunov stability analysis. Simulation results are presented to show the high tracking performance of the controller.

UR - https://www.scopus.com/pages/publications/85016730009

U2 - 10.1109/ROBIO.2016.7866309

DO - 10.1109/ROBIO.2016.7866309

M3 - 会议稿件

AN - SCOPUS:85016730009

T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

SP - 124

EP - 130

BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Y2 - 3 December 2016 through 7 December 2016

ER -

Ren Y, Zhou Y, Gu Y , Liu Y , Jin M , Liu H. Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 124-130. 7866309. (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). doi: 10.1109/ROBIO.2016.7866309

Robust adaptation based backlash and friction compensation for 3-DOF robotic head with dynamic uncertainties

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