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Compensating for nonlinear friction in robot systems

✍ Scribed by V. B. Larin

Publisher
Springer US
Year
1996
Tongue
English
Weight
254 KB
Volume
32
Category
Article
ISSN
1573-8582

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A novel adaptive friction compensator based on a dynamic model recently proposed in the literature is presented in this paper. The compensator ensures global position tracking when applied to an n degree of freedom robot manipulator perturbed by friction forces with only measurements of position and