Adaptive friction compensation in robot manipulators: low velocities

摘要: This article analyzes the problem of modeling and compen sation friction at velocities close to zero. A new model, linear in parameters, which captures downward bends low velocity is used adaptively compensate for friction. The need this type model mainly motivated by instability phenomena that can be caused overcompensation when simple models (such as Coulomb models) are a basis compensation. combi nation with an adaptive computed torque method, was tested experimentally robot manipulator.