Some Improvements in Elastoplastic Friction Compensator
For robotic joints with compliant transmissions, Mahvash and Okamura have proposed a friction compensator based on an elastoplastic friction model. One drawback of the compensator is that the compensator continues producing non-zero output force in the static friction state, which results in the deg...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2017-05-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.9746/jcmsi.10.141 |