Low speed joint motion control in the presence of stick-slip
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abstract
Due to friction the response of a DC drive to low step inputs is oscillatory. This paper continues our previous work in the study and compensation of stick-slip oscillation in DC motors. A TI robot with DC motor drives is used to test our control algorithm to achieve constant low speed motion in the joints. Stick-slip motion is caused due to the interaction of motor torque ripple with commutator brush friction and joint friction. The end effector motion becomes uncontrollable in low speed regime due to these joint oscillations. The joint model is used to estimate the static friction and compensate for it. A fuzzy linguistic identification law for stick-slip is deduced and this law is used to adapt the friction estimate. This estimate is used to minimize friction effects.
