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 …

Mathematical modelling plays an important role for robotic manipulators in order to design
their particular controllers. Also, it is hard challenge to obtain an accurate mathematical …

This paper presents a reduced-order extended state observer (ESO) based sliding mode
control scheme for friction compensation of a three-wheeled omnidirectional mobile robot …

Abstract Model-based, torque-level control can offer precision and speed advantages over
velocity-level or position-level robot control. However, the dynamic parameters of the robot …

The main goal of this book is to prove analytically and validate experimentally that
synchronization in multi-composed mechanical systems can be achieved in the case of …

This paper deals with the important topic of industrial robot identification. The usual
identification method is based on the inverse dynamic identification model and the least …

Dynamic parameters are crucial for the definition of high-fidelity models of industrial
manipulators. However, since they are often partially unknown, a mathematical model able …

This paper explains a procedure for getting models of robot kinematics and dynamics that
are appropriate for robot control design. The procedure consists of the following steps: 1) …

Industrial robots are electro-mechanical systems with double integrator behaviour,
necessitating operation and model identification under closed-loop control conditions. The …

In this paper, a practical procedure for linear parameter-varying (LPV) modeling and
identification of a robotic manipulator is presented, which leads to a successful experimental …