IEEE Computer Society - Adaptive friction compensation in robot manipulators: low-velocities

1989 IEEE International Conference on Robotics and Automation

Author(s): C. Canudas de Wit ; P. Noel ; A. Aubin ; B. Brogliato ; P. Drevet
Sponsor(s): IEEE
Publisher: IEEE Computer Society
Publication Date: 1 January 1989
Conference Location: Scottsdale, AZ, USA
Conference Date: 14 May 1989
ISBN (Paper): 0-8186-1938-4
DOI: 10.1109/ROBOT.1989.100168

The problem of modeling and compensation of friction velocities close to zero is analyzed. A model, linear in parameters, which captures the downward bends at low velocity is used to adaptively... View More