286,705 views
44 votes
44 votes
How did we compensate for friction​

User AbsoluteSpace
by
3.3k points

1 Answer

10 votes
10 votes
The most common execution of feed-forward to compensation for friction — particularly static friction — is to add a velocity-dependent feed-forward control to the current command. This increases the amount of current sent to the motor, so the motor develops enough torque to overcome the high start-up (static) friction.
User Matt Whitlock
by
2.6k points