Feedforward Compensation of Nonlinear Friction in Linear Tooth Belt-Driven Systems

Abstract

Linear tooth belt-driven systems are widely used in mechatronic applications, but achieving high-precision motion control is challenging due to nonlinear friction effects. Conventional compensation strategies primarily address velocity-dependent friction, but do not account for spatially varying friction characteristics. This paper experimentally assesses the practical benefit of augmenting velocity-based friction compensation with position-dependent effects in linear tooth belt-driven systems. Building on established friction characterization techniques, a position- and velocity-dependent friction map is identified and implemented as a feedforward term within a cascaded position control structure, without modifying the feedback controller. The approach is experimentally evaluated on a linear tooth belt-driven system and compared against uncompensated control and classical Coulomb-viscous feedforward compensation across a wide range of operating conditions. The results provide quantitative insights into the contribution of spatially varying friction effects beyond velocity-dependent modeling and clarify the trade-off between model complexity and achievable tracking performance, illustrating a practical strategy to improve precision motion control in belt-driven systems.