Rapid Prototyping of a Model-Based Control With Friction Compensation for a Direct-Drive Robot

@article{Bona2006RapidPO,
  title={Rapid Prototyping of a Model-Based Control With Friction Compensation for a Direct-Drive Robot},
  author={Basilio Bona and Marina Indri and Nicola Smaldone},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2006},
  volume={11},
  pages={576-584}
}
The development and application of the most recent model-based control schemes for robots require the investigation and solution of problems concerning various aspects, from the real-time (RT) simulation and control issues, to the necessity of determining a robot model suitable for control, and of experimentally testing the control performances. In this paper, different aspects are investigated for a planar, two-link direct-drive manipulator, with particular attention to the joint friction… CONTINUE READING
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