| Journal: | Journal of the Brazilian Society of Mechanical Sciences |
| Database: | PERIÓDICA |
| System number: | 000312125 |
| ISSN: | 0100-7386 |
| Authors: | Garcia, A1 Pieri, E.R. de Guenther, R |
| Institutions: | 1Universidade Federal de Santa Catarina, Departamento de Automacao e Sistemas, Florianopolis, Santa Catarina. Brasil |
| Year: | 2002 |
| Season: | Nov |
| Volumen: | 24 |
| Number: | 4 |
| Pages: | 302-308 |
| Country: | Brasil |
| Language: | Inglés |
| Document type: | Artículo |
| Approach: | Experimental |
| English abstract | Control of an industrial robot is mainly a problem of dynamics. It includes non-linearities, uncertainties and external perturbations that should be considered in the design of control laws. In this work, two control strategies based on variable structure controllers (VSC) and a PD control algorithm are compared in relation to the tracking errors considering friction. The controller's performances are evaluated by adding an static friction model. Simulations and experimental results show it is possible to diminish tracking errors by using a model based friction compensation scheme. A SCARA robot is used to illustrate the conclusions of this paper |
| Disciplines: | Ingeniería |
| Keyword: | Ingeniería biónica y cibernética, Ingeniería de control, Robótica, Sistemas de control, Controladores, Control de estructura variable, Control en modo deslizante, Articulaciones, Fricción |
| Keyword: | Engineering, Bionics and cybernetics, Control engineering, Robotics, Control systems, Controllers, Variable structure control, Sliding control, Joints, Friction |
| Full text: | Texto completo (Ver HTML) |
