Rapid prototyping of a model-based control with friction compensation for a direct-drive robot

IEEE/ASME Transactions on Mechatronics

Volumn 11, Issue 5, 2006, Pages 576-584

  Bona, Basilio ^a   Indri, Marina ^a   Smaldone, Nicola ^b  

^a POLITECNICO DI TORINO   (Italy)

^b Department of Engineering   (Italy)

Author keywords

Friction compensation; Model based control; Rapid prototyping; Robotics

Indexed keywords

DYNAMICS; FRICTION; MATHEMATICAL MODELS; RAPID PROTOTYPING; ROBOTICS; TORQUE;

DIRECT-DRIVE ROBOT; FRICTION COMPENSATION; FRICTION TORQUES; INVERSE DYNAMICS CONTROL; MODEL-BASED CONTROL; ROBOT DYNAMICS;

ROBOTS;

EID: 33750382050     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2006.882989     Document Type: Article

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