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Experimental Robotics I pp 196–214Cite as

Experimental results on adaptive friction compensation in robot manipulators: low velocities

  • Section 2: Design
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 139))

Abstract

The paper analyzes the problem of modelling and compensation of friction at velocities close to zero. A new model, linear in parameters, which captures the downward bends at low velocity is used to adaptively compensate for friction. The need for this type of models is mainly motivated by instability phenomena that can be caused by overcompensation when simple models (such as Coulomb friction models) are used as a basis for the friction compensation. This model, in combination with an adaptive computed torque method were tested experimentally in a robot manipulator.

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References

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Authors and Affiliations

  1. Laboratoire D'Automatique de Grenoble (C.N.R.S. UA 228) Greco (69) "Systèmes Adaptatifs" Ensieg-Inpg, BP 46, 38402, Saint-Martin d'Hères, France

    C. Canudas de Wit

Authors
  1. C. Canudas de Wit
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Editor information

Vincent Hayward Oussama Khatib

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© 1990 Springer-Verlag

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Canudas de Wit, C. (1990). Experimental results on adaptive friction compensation in robot manipulators: low velocities. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042521

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  • DOI: https://doi.org/10.1007/BFb0042521

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52182-2

  • Online ISBN: 978-3-540-46917-9

  • eBook Packages: Springer Book Archive

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