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—This paper discusses experimental robot identification based on a statistical framework. It presents a new approach toward the design of optimal robot excitation trajectories, and formulates the maximum-likelihood estimation of dynamic robot model parameters. The differences between the new design approach and the existing approaches lie in the(More)
—This paper presents a new dynamical friction model structure which allows accurate modeling both in the sliding and the presliding regimes. Transition between these two regimes is accomplished without a switching function. The model incorporates a hysteresis function with nonlocal memory and arbitrary transition curves. These last aspects prove essential(More)
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