Advances in Control of Articulated and Mobile Robots | Zendy

G. Ferretti | Zendy; G. Magnani | Zendy; P. Rocco | Zendy

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Advances in Control of Articulated and Mobile Robots

Author(s) -

G. Ferretti,

G. Magnani,

P. Rocco

Publication year - 2004

Publication title -

springer tracts in advanced robotics

Language(s) - English

Resource type - Book series

SCImago Journal Rank - 0.485

H-Index - 49

eISSN - 1610-742X

pISSN - 1610-7438

DOI - 10.1007/b10628

Subject(s) - mobile robot , robot , control (management) , computer science , human–computer interaction , state (computer science) , engineering , artificial intelligence , algorithm

Compensation of nonlinear friction terms is a most challenging application of high resolution encoders, which are nowadays getting available for common industrial motion control and robotic applications. In fact, use of a high resolution sensor allows a neat analysis of the dynamic behavior of friction forces in the presliding regime, and especially of hysteresis loops. Starting from a recently proposed friction model, defining more accurately the presliding regime, a research is presented in this chapter, aimed at devising identification and compensation procedures for friction

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