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
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;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627538
