DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

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. doi: 10.1109/tro.2019.2926496. ISSN 1552-3098.

[img] PDF - Preprint version (submitted draft)


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 AuthorsAuthor's ORCID iDORCID Put Code
Beck, FabianUNSPECIFIEDhttps://orcid.org/0000-0003-3239-5505UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115810
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 System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
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:31 Oct 2023 13:30

Repository Staff Only: item control page

Help & Contact
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.