Trajectory Friction Compensation Algorithm for Robots Based on Velocity Control

doi:10.12141/j.issn.1000-565X.230368

Abstract

Abstract:

Currently, robots are extensively utilized in industrial manufacturing. However, due to the influence of joint friction and other factors in the robot system, the robot trajectory tracking accuracy is difficult to meet the requirements of high-precision production. In this study, a friction compensation control algorithm in speed mode was proposed to mitigate the impact of non-linear friction factors in the mechanical structure and unmodelled disturbances on the robot’s operational stability and machining precision. The optimal excitation trajectory was designed by a combination of Fourier series and fifth-order polynomial. Dynamic parameters were then pre-identified by the least squares method and iteratively optimized through the Levenberg-Marquardt method to establish a more precise robot dynamic model. Subsequently, the Lyapunov method was adopted to design the trajectory tracking control algorithm, and the joint angles collected in the steepest discrete tracking differentiator were fed into the control algorithm to calculate the real-time compensation. The compensation value was then applied in the robot, which effectively achieving friction compensation. The proposed algorithm was validated by employing a six-degree-of-freedom serial robot as an experimental subject. The results demonstrate that the trajectory tracking error is reduced by approximately 35%, as comparing with that under the non-compensation conditions, which confirms the efficacy of the algorithm in the realm of robot friction compensation.

Key words: friction compensation, parameter identification, trajectory, tracking differentiator

CLC Number:

TP242.2

YE Bosheng, LI Siao, TAN Shuai, et al. Trajectory Friction Compensation Algorithm for Robots Based on Velocity Control[J]. Journal of South China University of Technology(Natural Science Edition), 2024, 52(4): 51-58.

Figures/Tables 8

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1	0.544 5	0.199 8	-0.226 6	0.448 1	-0.003 7	0.478 5	0.065 8	0.174 9	0.188 4	-0.426 1	0.144 7
2	0.772 2	-0.364 4	-0.717 4	0.338 1	0.209 4	0.534 3	-0.167 9	0.658 5	1.063 1	0.060 3	-0.915 9
3	-3.140 0	0.649 4	0.993 2	0.316 1	-0.780 3	-1.178 4	0.181 1	-0.251 7	-0.779 0	0.472 9	0.153 5
4	0.410 5	0.284 1	-0.076 5	-0.068 6	-0.169 4	0.030 4	-0.198 5	-0.101 7	0.014 7	0.048 4	0.032 9
5	-2.862 6	0.542 9	0.683 8	-0.634 3	-0.754 0	0.151 6	0.089 3	-1.252 3	-0.491 7	-0.529 9	1.202 0
6	-1.429 5	0.253 9	0.394 3	-0.598 5	0.004 9	-0.054 6	0.333 9	-0.295 6	-0.758 1	-0.423 7	0.845 3

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1	-0.036 7	-0.278 6	0.002 4	0.066 5	-0.024 6	0.008 8	-0.004 1	0.011 4	-0.000 5	0.022 4	0.018 1	-0.000 9
2	-0.000 6	0.033 2	0.003 6	0.000 3	0.004 1	-0.013 8	-0.001 3	0.004 8	0.001 2	0.006 2	0.000 3	-0.000 2
3	0.060 2	0.016 1	0.591 6	-0.037 3	0.143 6	-0.146 6	0.010 1	0.002 9	0.013 2	-0.004 2	0.002 7	0.000 8

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