Robot joint friction compensation learning enhanced by 6D virtual sensor

DOI10.1002/RNC.6108MaRDI QIDQ6063773zbMATH OpenOpenAlexFDO

Authors Loris Roveda, Francesco Braghin, Dario Piga

Publication date 12 December 2023

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1002/rnc.6108

zbMATH Keywords

6D virtual sensorBayesian optimizationextended Kalman filterfriction compensation learningsensorless Cartesian impedance control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Filtering in stochastic control theory (93E11)

Recommendations

• Joint stick‐slip friction compensation of robot manipulators by using smooth robust controllers
• Contact friction compensation for robots using genetic learning algorithms
• Robust adaptive friction compensation for tracking control of robot manipulators
• Drive Chain Friction Characterization of a 6DOF Parallel Kinematics Robot
• Virtual adjustable joint stiffness toward a safer human/robot interaction
• An adaptive friction compensator for global tracking in robot manipulators

Cites work

• A sliding-mode based smooth adaptive robust controller for friction compensation
• Constrained Bayesian optimization with noisy experiments
• Global continuous finite-time tracking of robot manipulators

Cited in

(1)

• A two-stage Bayesian framework for rapid dynamics identification in industrial robots

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