Precise slow motion control of a direct-drive robot arm with velocity estimation and friction compensation

Mechatronics

Volumn 14, Issue 7, 2004, Pages 821-834

  Liu, G ^a   Goldenberg, A A ^b   Zhang, Y ^b  

^a RYERSON UNIVERSITY   (Canada)

^b UNIVERSITY OF TORONTO   (Canada)

Author keywords

Decomposition based control; Friction compensation; Precise motion control; Robust control; Velocity estimation

Indexed keywords

END EFFECTORS; ESTIMATION; FRICTION; ROBUSTNESS (CONTROL SYSTEMS);

DECOMPOSITION-BASED CONTROL; FRICTION COMPENSATION; PRECISE MOTION CONTROL; VELOCITY ESTIMATION;

MOTION CONTROL;

EID: 2342590662     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2004.03.002     Document Type: Article

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