Pose Regulation of Robot Manipulators with Dynamic Friction Compensation

The regulation of end–effector pose of manipulators is addressed in this paper. We present a solution to the operational space pose regulation considering dynamic friction at the robot joints. It is assumed the exact knowledge of the dynamic and kinematic parameters of the robot, including those of the friction. The controller proposed for the pose regulation problem is based on the resolved acceleration control scheme. Experimental results on a two degrees–of–freedom direct–drive arm support the accuracy of the proposed method.