Cours de Robotique

A non linear control law based on aasive theory is considered for one degree-offreedom electric actuator with friction and backlash. This controller required joint positions and velocities measurements. Since only joint positions are available, velocities must be estimated. Then, an torque compensation estimator is developped. Experimental results of these technics are given for an experimental system that allows to tune the range of the backlash and the friction on electrical system.

Robot, Robotique, Robotics, Second Order Sliding Mode, Robust Control, Robust Observer, Robots Manipulateurs