Position Control of Uncertain Robot Manipulators with Friction using Output Feedback Controller

Abstract

In this study, an iterative control scheme using only position measurement, proposed in [1], is applied to the uncertain robot manipulator with unknown viscous and Coulomb friction for set-point regulation. The contribution of this study is to apply the output feedback controller in compensating nonlinear Coulomb friction. Simulation and experimental results on a two-link SCARA-type manipulator with friction show the advantages of the proposed scheme.