Friction compensation of an electromechanical friction clutch mechanism capable of restraining motion so that various predefined paths can be followed is investigated in this paper. The clutch mechanism is driven by an external source of energy, and a computer-controlled system is used to produce frictional resistance so that a desired motion can be achieved. Unknown stick-slip within the clutch is a critical characteristic of the system, which has to be overcome. Three different controllers are investigated in order to avoid stick-slip at low motion rates. A proportional-derivative controller, a sliding-mode controller, and a computed-torque controller, have been implemented and their performances compared using simulation and experimental analyses. The results demonstrate the effectiveness of the sliding-mode controller and the potential of a computed-torque controller for the motion control in a system with dry friction at low velocities.
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