| Abstract |
Backlash and Coulomb friction in combination with compliant gears, couplings and shafts render it difficult to achieve high-precision speed, position and force control in pointing and tracking systems, such as robots, robot grippers and machine tools. For an elastic two-mass system with backlash and Coulomb friction as an effective model of higher-order industrial systems, in which friction and backlash may act simultaneously or each one on its own, stability conditions are described. They lead to linear and nonlinear stabilization and compensation measures, which are combined with a model reference control scheme for the linear system including observers and ensure optimal operation down to lowest speeds and standstill. The results which have been proven experimentally are applicable to various types of industrial plants. |
