Control of Robotic Systems With Unknown Friction and Payload

The paper introduces a tracking control algorithm for robotic manipulators with partially known parameters. In the first part of the study a reformulated robot model with friction is introduced using which the model based robot control algorithms can be extended for adaptive compensation of unknown friction and payload parameters. To solve the problem of tracking with unknown payload and friction, an adaptive control algorithm is proposed with guaranteed tracking convergence. Experimental measurements are also presented to show the applicability of the theoretical results.