A Hierarchical Approach to Manipulator Velocity Field Control Considering Dynamic Friction Compensation

Abstract

Abstract The velocity field control of robot manipulators is addressed in this paper. The proposed algorithm has a hierarchical structure based on a velocity field kinematic control scheme for joint velocity resolution and an inner loop of joint velocity control that uses an observer for friction compensation. Experiments on a two degrees-of-freedom direct-drive arm illustrate the performance of the proposed controller.