Friction effects are particularly critical for industrial robots, since they can induce large
positioning errors, stick-slip motions, and limit cycles. This paper offers a reasoned overview …

In this paper, we propose a nonlinear adaptive controller and an adaptive backstepping
controller for linear induction motors to achieve position tracking. A nonlinear transformation …

This paper solves the robust control problem of robotic manipulator systems with uncertain
dynamics by friction compensation approach. A weighting factor is introduced to distinguish …

In this paper, an adaptive friction compensation scheme is proposed. The friction force is
computed as a time-varying friction coefficient multiplied by the sign of the velocity and an …

This paper deals with the problem of friction compensation for a class of uncertain
mechanical systems based on LuGre model. The objective is to develop control laws such …

A historical review of constrained robot modeling and control strategies is first introduced.
Next, a design of a motion/force controller for a constrained servo-robot, which is based on a …

Uncertainties including the structured and unstructured, especially the nonlinear frictions,
always exist in physical servo systems and degrade their tracking accuracy. In this paper, a …

A new nonlinear model reference adaptive impedance controller is presented for the control
of robot manipulators with uncertainties in model parameters such as friction coefficients …

As we know, the dynamic visual-tracking control, which is based on the depth-independent
interaction matrix, has been proposed to cope with the general 3-D motion of robot …

针对关节摩擦力引起Scara 机器人定位精度变差的问题, 对机器人关节摩擦力进行建模,
辨识和补偿. 提出了一种可用于工作空间受限机器人的摩擦力辨识方法, 使用Lugre …