期刊名称：International Journal of Computer Science & Technology
印刷版ISSN：2229-4333
电子版ISSN：0976-8491
出版年度：2011
卷号：2
期号：1
出版社：Ayushmaan Technologies
摘要：Many robots excel at their positioning and trajectory tracking using software control and most successful robotic application utilize this ability – examples include CNC machining, robotic welding, painting and pick-and-place board assembly. A robot is an integrated system of electronics, software, and mechanical, and each part of the system limits or enables the behavior of the whole. For dynamic behaviors such as running, the performance limitations of robot are often due to limitations of friction. Friction effects are particularly critical for industrial robots. Friction deteriorates the performance of industrial robots cause’s disturbances such as positioning errors, tracking errors and stick-slip errors in robotics. The effects of friction in robotics are greatly compensated by friction models. The objective of this paper is to derive a friction compensation strategy for a one link robot, which reduces steady-state errors.
