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The precise control of manipulators with high joint-friction using base force/torque sensing

  • Published:2000-07 Issue:7 Volume:36 Page:931-941
  • ISSN:0005-1098
  • Container-title:Automatica
  • language:en
  • Short-container-title:Automatica

Author:

Morel Guillaume,Iagnemma Karl,Dubowsky Steven

Publisher

Elsevier BV

Subject

Electrical and Electronic Engineering,Control and Systems Engineering

Reference24 articles.

1. AMTI (1995). Force/Moment sensor data sheet. Watertown, MA.

2. Model-based control of a robot manipulator;An,1988

3. Control of machines with friction;Armstrong,1991

4. Direct-drive robots: Theory and practice;Asada,1987

5. Adaptive control of partially known system;Canudas de Wit,1988

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2. Identification for Industrial Robots Using Bedplate Force Sensors with Physics-Based Simulation Models;2024 10th International Conference on Electrical Engineering, Control and Robotics (EECR);2024-03-29

3. A Unified Framework of In-Situ Calibration and Synchronous Identification for Industrial Robots Using Composite Sensing;IEEE Transactions on Automation Science and Engineering;2024

4. A Novel Friction Compensation Method Based on Stribeck Model With Fuzzy Filter for PMSM Servo Systems;IEEE Transactions on Industrial Electronics;2023-12

5. A globally exponentially stable observer for torque estimation with only position measurement;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;2023-09-19
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