The design of a friction compensation control architecture for a heavy lift precision manipulator in contact with the environment

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 31-36

  Garretson, Justin R ^a   Becker, William T ^a   Dubowsky, Steven ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Adaptive control; Friction compensation; Heavy lift manipulator; Position control; Precision manipulator

Indexed keywords

COMPUTER ARCHITECTURE; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); FRICTION; TORQUE CONTROL;

FRICTION COMPENSATION; HEAVY LIFT MANIPULATORS; PRECISION MANIPULATORS;

MANIPULATORS;

EID: 33845659378     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1641157     Document Type: Conference Paper

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