Abstract
First, we formulate the system dynamics of a 2-DOF robot arm with contact forces and friction forces between the robot surface and the object reproduced by the LuGre friction model. Both the static and dynamic friction forces can be specified as a single differential equation according to the method of the LuGre friction model. Second, we design a two trajectory tracking control system in order to manipulate the position of the center of mass of the object. The first control system is inverse dynamic control, the second is sliding mode control. Finally, we compare the control performance of two control system in terms of average error norm and average input power. The validity of the proposed method is investigated by numerical simulations.
