چکیده مقاله
In this paper, an adaptive coulomb and viscous friction compensation method has been employed using the filtering technique to reduce the effect of noise in velocity signal of the robot manipulators for tracking the desired trajectory Additionally, in order to reduce the implementation backwards in DC motors, a simplified direct drive technique has been used Experimental results have shown an excellent capability of the proposed method even under disturbed conditions
کلیدواژهها
نویسندگان
V Erfanian
PhD Student, Department of Mechanical Engineering, Amirkabir University of Technology
M Kabganian
Associate Professor, Department of Mechanical Engineering, Amirkabir University of Technology
شیوه ارجاع
Erfanian, V and Kabganian, M,1384,Adaptive Coulomb and Viscous Friction Compensation Method for Robot Manipulators with Simplified Implementation Technique,01st Tehran International Congress on Manufacturing Engineering (TICME2005),Tehran
ارائهشده در
مجموعه مقالات اولین کنفرانس بین المللی و هفتمین کنفرانس ملی مهندسی ساخت و تولید1 فروردین 1384 · تهران