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Model-free Friction Observers for Flexible Joint Robots with Torque Measurements

Kim, MinJun and Beck, Fabian and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2019) Model-free Friction Observers for Flexible Joint Robots with Torque Measurements. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. ISSN 1552-3098

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This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By doing so, asymptotic stability and passivity of the controller are maintained. Another advantage of the proposed observer is that it provides a clear understanding for the stiction compensation which is hard to be captured in model-free approaches. This allows to design observers that do not overcompensate for the stiction. The proposed scheme is validated through simulations and experiments.

Item URL in elib:https://elib.dlr.de/132333/
Document Type:Article
Title:Model-free Friction Observers for Flexible Joint Robots with Torque Measurements
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kim, MinJunMinJun.Kim (at) dlr.deUNSPECIFIED
Beck, FabianFabian.Beck (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:December 2019
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Flexible joint robots, Friction observer, disturbance observer, passivity-based control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Kim, MinJun
Deposited On:13 Dec 2019 10:22
Last Modified:13 Dec 2019 10:22

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