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Adaptive Friction Compensation : Application to a Robotic Manipulator
| Content Provider | Semantic Scholar |
|---|---|
| Author | Susanto, Witono Babuska, Robert Liefhebber, F. |
| Copyright Year | 2008 |
| Abstract | This paper presents a feed-forward model-based friction compensation technique using the LuGre friction model. An off-line method is given to estimate the model’s parameters based on simple ramp-response experiments. In addition, an on-line parameter adaptation procedure for the two most important model parameters is provided. Experimental results obtained with a robotic manipulator are presented to illustrate the merits of the friction compensation technique. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://folk.ntnu.no/skoge/prost/proceedings/ifac2008/data/papers/1999.pdf |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Acclimatization Coefficient Computation Estimation theory Experiment Friction Motion compensation Online and offline Population Parameter RAMP Simulation Software for Modelling Reliability, Availability and Maintainability Real-time transcription Robot |
| Content Type | Text |
| Resource Type | Article |