Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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A Design of NAC(Natural Admittance Controller) for Coulomb Friction Compensation

  • Sungmin Jang (Dept. of Electrical & Electronic Engineering, Soonchunhyang University) ;
  • Kim, Seungwoo (Dept. of Electrical & Electronic Engineering, Soonchunhyang University)
  • Published : 2000.07.01
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Abstract

A natural admittance control system design is presented for a particular type of interaction controller that achieve high-performance and guarantees stability. The admittance control Significantly improves performance when Coulomb friction is present in the one link robot system. The technique requires a careful choice of the target impedance. Experimental performance results are presented for a two-mass system with internal Coulomb friction. Results demonstrate that the admittance control law is successful in rejecting internal Coulomb friction force disturbances. The controller was designed and implemented on our system that we set up one link robot system and hardware configuration system, and performance results are presented.

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