The precise control of manipulators with high joint-friction using base force/torque sensing (Q1571073)

The subject of this paper refers to the control of robotic manipulators executing slow and precise motions dominated by the presence of Coulomb type joint/transmission friction. Its main contribution lies in providing a new approach to friction compensation called a base sensor control friction compensation method. A bright physical idea underlying this method consists in measuring by a force/torque sensor mounted under the manipulator base the net quantity (i.e., uncorrupted by friction torque applied to manipulators joints) and utilizing readings of this sensor in manipulator controllers. Mathematical foundations of the method are included in one simple formula \[ \tau_d= J^T(q)[w_{\text{dynamic}}- w_{\text{static}}]- Q(q)\ddot q- C(q,\dot q)\dot q \] describing dynamics of the manipulator acted on by a difference between dynamic (in motion) and static (prior to motion) wrenches determined by the force/torque sensor, and transformed to the jointspace by a suitably defined transposed manipulator Jacobian. Furthermore, under assumption of slow motion with small acceleration the above formula simplifies to \[ \tau_d= J^T(q)[w_{\text{dynamic}}- w_{\text{static}}] \] that is completely independent of manipulator dynamics and sufficient for practical purposes. The usefulness of the base sensor control friction compensation method has been justified with experiments involving a highly geared, electric manipulator PUMA 550, and a hydraulic manipulator Titan II exhibiting considerable Coulomb friction. In both cases improvement of performance resulting from applying the method in position controllers has been remarkable.