Estimation and compensation of gravity and friction forces for robot arms: Theory and experiments

DOI10.1023/A:1012089607929zbMath1007.68657OpenAlexW1544401563MaRDI QIDQ1857610

Yanyan Li

Publication date: 19 February 2003

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1012089607929

zbMATH Keywords

parameter estimationPD controlrobot controlfriction compensationset-point controlgravity compensation

Mathematics Subject Classification ID

Computing methodologies and applications (68U99) Artificial intelligence for robotics (68T40)

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