ABOUT EXPERIMENTAL IMPLEMENTATION OF FRICTION COMPENSATION TO POSITION AND FORCE CONTROL

This paper presents an experimental implementation of position and force control of a like industrial manipulator considering robustness and friction compensation aspects. Project of controllers are done using the De Luca and Manes model and a control strategy based on Variable Structure Control (VSC). Practical implementation is done considering tasks as cut of material and tracking reference for force and position. These tasks were implemented in a research SCARA robot, with four degrees of freedom with force sensor and open architecture of control.