In this paper, a novel nonlinear model and high-precision lifting motion control method of hydraulic manipulator driven by proportional valve are presented, with consideration severe system nonlinearities, various uncertainties as well backlash/deadzone input nonlinearities. To accomplish mission, based on the independent orifice throttling process, new comprehensive pressure-flow is proposed t...

This paper presents the research work on a 1 degree of freedom (DOF) force reflecting tele-micromanipulation system. This system enables a human operator to position remote objects very precisely having haptic feedback. The slave robot is a nano-positioning piezo-actuator with hysteretic dynamics. This intrinsic nonlinearity results in positioning inaccuracy and instability. Hence, a LuGre fric...

The slave robot in this research is a 1-DOF piezo actuator which includes hysteresis nonlinearity. Nonlinear hysteresis behavior makes robot control a complex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the hysteresis loop. An impedance controller for ...

In ultra-precision positioning equipment, the accuracy is affected by friction characteristics, especially pre-slip stage. At present, research on mainly includes contact theory and dynamic process. There no time variable in models, so they only apply to stage of static contact, while establishment a dynamics model depends parameter identification cannot reflect influence rough morphology load....

Slipping detection and avoidance are key issues in dexterous robotic manipulation. The capability of robots to grasp manipulate objects common use can be greatly enhanced by endowing these with force/tactile sensors on their fingertips. Object slipping caused both tangential torsional loads when the grip force is too low. Contact moment measurements required counteract such avoid slippage contr...

This paper presents a realistic dynamic simulation of the closed-loop tip motion of a rigid-link manipulator with joint friction. The results from two simulation techniques are compared with experimental results. A six-axis industrial Stäubli robot is modelled. The LuGre friction model is used to account both for the sliding and pre-sliding regime. The manipulation task implies transferring a l...

The electromagnetic linear actuator is used as the core drive unit to achieve high precision and response in direct-drive actuation system. In order improve performance control accuracy of unit, an improved sliding mode-active disturbance rejection (ISM-ADRC) method was proposed. A motor model established based on LuGre dynamic friction. position loop adopts integral traditional mode extended s...

A control scheme for emergency braking of vehicles is designed. The tire/road friction is described by a LuGre dynamic friction model. The control system output is the pressure in the master cylinder of the brake system. The controller utilizes estimated states for a feedback control law that achieves a near maximum deceleration. The state observer is designed using linear matrix inequality (LM...