This paper proposes a new admittance controller that realizes safe behavior even under
torque saturation. The new controller is analytically equivalent to a conventional admittance …

This paper proposes a new concise mathematical model of gear transmission dynamics with
asymmetric load-dependent friction. It is built only upon the rigid-contact mechanics and the …

This paper proposes a procedure for identifying rate-dependent friction of robotic
manipulators of which the motion is limited due to the configuration or the environment. The …

In the harmonic gear servo system, friction is associated with not only the velocity of the input
shaft but also its angle position. Traditional friction compensation based on the velocity …

This paper presents an experimental investigation of a new position control scheme that
enhances the stability of admittance control by using:(a) PDD 2 (proportional, derivative, and …

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 …

For robotic joints with compliant transmissions, Mahvash and Okamura have proposed a
friction compensator based on an elastoplastic friction model. One drawback of the …

Aiming at the control problem of servo system with friction nonlinearity, we introduced the
improved LuGre friction model of system. We used adaptive fuzzy system to approximate the …

This paper proposes an identification procedure for rate-dependent friction of robotic
manipulators of which the motion is limited due to the configuration or the environment. The …

This paper proposes a position control scheme that is suitable for the use as the internal
position servo of an admittance controller. The proposed controller is characterized by four …