Nonlinear friction compensation and dynamic model proposed of a three-axis cartesian system for improved trajectory tracking control

Nonlinear friction compensation and dynamic model proposed of a three-axis cartesian system for improved trajectory tracking control | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Nonlinear friction compensation and dynamic model proposed of a three-axis cartesian system for improved trajectory tracking control Margarita Carmina García-López, María Aurora Diozcora Vargas-Treviño, and 5 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7769550/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract The precision and stability of Cartesian systems can be significantly affected by the friction present in their mechanical transmission systems. This paper presents a friction compensation model that integrates three different phenomena commonly found in such systems: Coulomb friction, viscous friction, and the Stribeck effect. The compensation is applied after analyzing the impact of these phenomena on the system, by using a mathematical function integrated into the dynamic model of the XYZ tree-axis cartesian system and allowing the study of their effects on the robot's behavior. By incorporating the compensation, the control is improved, reducing position error and enhancing the system performance. Afterward, the position control algorithm is compared with the trajectory control resulting in a further reduction of the error and achieving a maximum of 0.05-millimeter error on the X-axis, which is the degree of freedom with the highest load and where the friction phenomena are most pronounced. The results highlight the importance of friction compensation in robot control systems, especially in applications requiring high precision. The integration of a dynamic friction model with an optimized control algorithm provides a viable strategy for improving the performance of Cartesian system, enabling their use in industrial and precision applications without the need for expensive specialized hardware Dynamical Model Friction Model Mechatronics Friction Compensation Trajectory Control Full Text Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7769550","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":527122588,"identity":"95015b2d-4c28-43ee-a84f-56ca06954d02","order_by":0,"name":"Margarita Carmina García-López","email":"","orcid":"","institution":"","correspondingAuthor":false,"prefix":"","firstName":"Margarita","middleName":"Carmina","lastName":"García-López","suffix":""},{"id":527122589,"identity":"f4576d77-47fa-4623-9615-7359565c76c6","order_by":1,"name":"María Aurora Diozcora 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This paper presents a friction compensation model that integrates three different phenomena commonly found in such systems: Coulomb friction, viscous friction, and the Stribeck effect. The compensation is applied after analyzing the impact of these phenomena on the system, by using a mathematical function integrated into the dynamic model of the XYZ tree-axis cartesian system and allowing the study of their effects on the robot's behavior. By incorporating the compensation, the control is improved, reducing position error and enhancing the system performance. Afterward, the position control algorithm is compared with the trajectory control resulting in a further reduction of the error and achieving a maximum of 0.05-millimeter error on the X-axis, which is the degree of freedom with the highest load and where the friction phenomena are most pronounced. 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