DocumentCode
3066528
Title
A new model for nonlinear friction compensation in the force control of robot manipulators
Author
Gonzalez, Julio J. ; Widmann, Glenn R.
Author_Institution
Dept. of Electr. Eng., State Univ. of New York, New Paltz, NY, USA
fYear
1997
fDate
5-7 Oct 1997
Firstpage
201
Lastpage
203
Abstract
This paper introduces a new model which is suitable for nonlinear friction feedforward compensation in the force control of robot manipulators. This application is experimentally demonstrated
Keywords
compensation; feedforward; force control; friction; manipulator dynamics; nonlinear control systems; dynamics; feedforward; force control; nonlinear friction compensation; robot manipulators; transfer function; Actuators; Automotive electronics; DC motors; Degradation; Engineering management; Force control; Friction; Manipulator dynamics; Robots; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location
Hartford, CT
Print_ISBN
0-7803-3876-6
Type
conf
DOI
10.1109/CCA.1997.627538
Filename
627538
Link To Document