Avtor/Urednik		Jeraj, Janez; Žlajpah, Leon
Naslov		Adaptivna kompenzacija trenja
Prevedeni naslov		Adaptive friction compensation
Tip		članek
Vir		In: Zajc B, editor. Zbornik 7. elektrotehniške in računalniške konference ERK'98. Zvezek B. Računalništvo in informatika, umetna inteligenca, robotika, razpoznavanje vzorcev, biomedicinska tehnika, močnostna elektrotehnika, didaktika, študentski članki; 1998 sep 24-26; Portorož. Ljubljana: Slovenska sekcija IEEE,
Leto izdaje		1998
Obseg		str. 175-8
Jezik		slo
Abstrakt		In order to reduce position error, adaptive friction compensation was applied to the first joint of 4DOF planar manipulator with low gear ratios. Mathematical notation of adaptive friction compensator based on a model reference adaptive method is given. Compensator was evaluated using a Matlab/Simulink Planar Manipulator Toolbox that enables design and simulation of different control schemes and in the next step automatic testing of these algorithms on a real system. Results obtained by simulation and experiments on real system reduced position error for one grade.
Deskriptorji		FRICTION ALGORITHMS MODELS, THEORETICAL ROBOTICS