Methods for low-velocity friction compensation: Theory and experimental study

@article{Adams1996MethodsFL,
  title={Methods for low-velocity friction compensation: Theory and experimental study},
  author={John Adams and Shahram Payandeh},
  journal={J. Field Robotics},
  year={1996},
  volume={13},
  pages={391-404}
}
A study of di erent classes of controllers for mechanisms under the in uence of low velocity friction is conducted. Many methods are proposed in the literature for friction compensation, but there has been no signi cant analysis of these methods with respect to each other. Also lacking in the literature is some form of categorization, under which it is possible to describe and study their performance. This paper provides an experimental and analytic study of controllers previously proposed for… CONTINUE READING