A Smooth Robust Nonlinear Controller for Robot Manipulators with Joint Stick-Slip Friction

@inproceedings{Cai1993ASR,
  title={A Smooth Robust Nonlinear Controller for Robot Manipulators with Joint Stick-Slip Friction},
  author={L. Cai and G. Song},
  booktitle={ICRA},
  year={1993}
}
In this paper, the design of a smooth robust nonlinear controller for the regulation of an n degreeoffreedom rigid robot with internal joint stick-slip friction is presented. It is shown that not only positioning accuracy but also smoothness of motion is improved through nonlinear feedback. Lyapunov direct method has been employed to prove the global stability of the closedloop system. Desired accuracy can be achieved by adjusting the parameters of the controller. The nonlinear compensator is… CONTINUE READING
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