Robot joint friction compensation learning enhanced by 6D virtual sensor

DOI10.1002/rnc.6108zbMath1528.93164OpenAlexW4220956739MaRDI QIDQ6063773

Dario Piga, Unnamed Author, Francesco Braghin, Loris Roveda

Publication date: 12 December 2023

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.6108

zbMATH Keywords

extended Kalman filterBayesian optimization6D virtual sensorfriction compensation learningsensorless Cartesian impedance control

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Constrained Bayesian optimization with noisy experiments
• Global continuous finite-time tracking of robot manipulators
• A sliding-mode based smooth adaptive robust controller for friction compensation

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