Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/73129
Title: Adaptive joint friction compensation using a model-based operational space velocity observer
Authors: Xia, Q.H.
Lim, S.Y.
Ang Jr., M.H. 
Lim, T.M.
Issue Date: 2004
Source: Xia, Q.H.,Lim, S.Y.,Ang Jr., M.H.,Lim, T.M. (2004). Adaptive joint friction compensation using a model-based operational space velocity observer. Proceedings - IEEE International Conference on Robotics and Automation 2004 (3) : 3081-3086. ScholarBank@NUS Repository.
Abstract: An operational space controller that employs a velocity observer and a friction adaptation law to achieve higher tracking accuracy is presented. Without velocity measurements, the overall observer-controller system can achieve a semi-global asymptotic stability for the position and velocity tracking errors, and position and velocity estimation errors. The estimated friction coefficients can also approach the actual coefficients asymptotically. Experimental results indicate that the proposed adaptive observer-controller is able to achieve higher tracking accuracy than the observer-controller without friction compensation.
Source Title: Proceedings - IEEE International Conference on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/73129
ISSN: 10504729
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Page view(s)

28
checked on Dec 9, 2017

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.