Adaptive control: stability, convergence, and robustness
Adaptive control: stability, convergence, and robustness
Adaptive motion control of rigid robots: a tutorial
Automatica (Journal of IFAC) - Identification and systems parameter estimation
Automatica (Journal of IFAC)
Control Theory of Nonlinear Mechanical Systems
Control Theory of Nonlinear Mechanical Systems
Feedback Systems: Input-Output Properties
Feedback Systems: Input-Output Properties
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
Experimental Results on Adaptive Friction Compensation in Robot Manipulation: Low Velocities
The First International Symposium on Experimental Robotics I
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This paper considers the estimation and compensation of the unknown gravity force and static friction for robot motion control. Utilizing the stability feature of PD set-point control, the estimates of gravity-related parameters and static friction can be solved from two steady state equations obtained by stopping robots at two nonsingular positions. The estimates obtained can then be used to eliminate the position error. Under a mild assumption that the mass center of each robot link is distributed on a straight line connecting two adjacent joints, the gravity force regression matrix becomes upper-triangle which can significantly simplify the algorithm. The positive experimental result obtained for practical verification is also presented.