IEEE - Institute of Electrical and Electronics Engineers, Inc. - Robot joint friction compensation based on a local modeling technique

AMC '08. 10th International Workshop on Advanced Motion Control

Author(s): L. Mostefai ; M. Denai ; Y. Hori
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 March 2008
Conference Location: Trento, Italy
Conference Date: 26 March 2008
Page(s): 229 - 233
ISBN (CD): 978-1-4244-1703-2
ISBN (Paper): 978-1-4244-1702-5
DOI: 10.1109/AMC.2008.4516071
Regular:

This paper considers an approach of local modeling applied to robot joint control to solve the problem of friction compensation. In order to enhance the tracking performance of a robot joint, a... View More

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