Robot cotroller with a self-measurement capability enabling the identification of friction

• Autorzy: Woźniak A. , Szynkiewicz W. , Zieliński C.
• Języki publikacji: EN

Abstrakty

EN

This paper proposes an open controller structure which beside realising the diverse control tasks enables gathering of the idetification data which in turn can be utilised for improving servo control algorithms. The authors are convinced that in case of research-oriented controller archtectrures self-identification and self-measurement components should be included. Moreover the paper shows how the gathered data has been utilised in the modelling of friction. This problem has been investigated to increase the precision of motions of a robot equipped with a machinning head.

Słowa kluczowe

EN

robot controller; servomechanism; friction model; identification

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2003
• Tom: Vol. 13, no. 4
• Strony: 391--414
• Opis fizyczny: Bibliogr. 28 poz., rys.

Twórcy

autor

Woźniak A.

• The Institute of Control and Computation Engineering, Warsaw University of technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland

autor

Szynkiewicz W.

• The Institute of Control and Computation Engineering, Warsaw University of technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland

autor

Zieliński C.

• The Institute of Control and Computation Engineering, Warsaw University of technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland

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