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Adaptive feedforward control of a collaborative industrial robot manipulator using a novel extension of the Generalized Maxwell-Slip friction model

  • Published:2021-01 Issue: Volume:155 Page:104109
  • ISSN:0094-114X
  • Container-title:Mechanism and Machine Theory
  • language:en
  • Short-container-title:Mechanism and Machine Theory

Author:

Madsen Emil,Rosenlund Oluf Skov,Brandt David,Zhang Xuping

Funder

Innovation Fund Denmark

Publisher

Elsevier BV

Subject

Computer Science Applications,Mechanical Engineering,Mechanics of Materials,Bioengineering

Reference44 articles.

1. Friction compensation in robotics: an overview;Bona,2005

2. Motor-current-based estimation of cartesian contact forces and torques for robotic manipulators and its application to force control;Wahrburg;IEEE Trans. Autom. Sci. Eng.,2018

3. Sensorless friction-compensated passive lead-through programming for industrial robots;Stolt,2015

4. Sensorless kinesthetic teaching of robotic manipulators assisted by observer-based force control;Capurso,2017

5. Collision detection and safe reaction with the DLR-III lightweight manipulator arm;Luca,2006

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