Joint stick‐slip friction compensation of robot manipulators by using smooth robust controllers

DOI10.1002/ROB.4620110602zbMath0825.70027OpenAlexW1997730203MaRDI QIDQ4317346

Gangbing Song, Lilong Cai

Publication date: 28 November 1995

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

Full work available at URL: https://doi.org/10.1002/rob.4620110602

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (4)

A new approach to robust position/force control of flexible-joint robot manipulators ⋮ Low-speed voltage-input tracking control of a DC-motor numerically modelled by a dynamical system with stick-slip friction ⋮ Active Vibration Suppression of a Smart Flexible Beam Using a Sliding Mode Based Controller ⋮ Friction-induced planar vibration of two rigid plates

Cites Work

• Adaptive bearing friction compensation based on recent knowledge of dynamic friction
• Resolved-acceleration control of mechanical manipulators
• Robust Nonlinear Stick-Slip Friction Compensation

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