The precise control of manipulators with high joint-friction using base force/torque sensing

DOI10.1016/S0005-1098(00)00007-8zbMath0965.93074OpenAlexW2081345909MaRDI QIDQ1571073

Guillaume Morel, Steven Dubowsky, Karl Iagnemma

Publication date: 29 July 2001

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(00)00007-8

zbMATH Keywords

Coulomb frictionrobotic manipulatorsfriction compensationbase sensor control frictionforce/torque sensor

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

Related Items (2)

Low-speed control of heavy-load transfer robot with long telescopic boom based on Stribeck friction model ⋮ Generic differential kinematic modeling of articulated mobile robots

Cites Work

• Unnamed Item
• Unnamed Item
• Identification of the barycentric parameters of robot manipulators from external measurements
• Joint torque control by a direct feedback for industrial robots
• A new model for control of systems with friction

This page was built for publication: The precise control of manipulators with high joint-friction using base force/torque sensing