Experimental evaluation of friction estimation and compensation techniques

Experimental results are reported on friction estimation and compensation. The goal of this experimental study is to help understand the nature of friction as well as to demonstrate the application of theoretical results of earlier studies. With a simple apparatus to produce varying levels of friction, four friction estimation and compensation algorithms were investigated and experimental data were collected for each. The experimental results revealed that all the tested algorithms are effective for compensation of friction but behave differently in estimation of friction.