FUZZY ADAPTIVE DYNAMIC FRICTION COMPENSATOR FOR ROBOT

摘要

Intelligent tracking control design for robotic manipulators is proposed in this paper for dynamic friction compensation .A unified and a systematic procedure, which is based on adaptive fuzzy system, is employed for friction compensation and to drive the controller. Friction is highly nonlinear and dynamic effect and difficult to model. Friction of each joint of a manipulator impedes control accuracy. Therefore, friction has to be effectively compensated for in order to realize precise tracking control of robot manipulators. Adaptive Fuzzy compensator, which has the capability to approximate any nonlinear function over the compact input space, has been used in this paper to compensate the friction, based on Lyapunov function.