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The International Journal of Robotics Research
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Adaptive Friction Compensation in Robot Manipulators: Low Velocities

C. Canudas de Wit

Laboratoire D'Automatique de Grenoble (C.N.R.S. UA 228) Greco (69) "Systèmes Adaptatifs" Ensieg-Inpg BP 46, 38402 Saint-Martin d'Hères, France

P. Noël

Laboratoire D'Automatique de Grenoble (C.N.R.S. UA 228) Greco (69) "Systèmes Adaptatifs" Ensieg-Inpg BP 46, 38402 Saint-Martin d'Hères, France

A. Aubin

Laboratoire D'Automatique de Grenoble (C.N.R.S. UA 228) Greco (69) "Systèmes Adaptatifs" Ensieg-Inpg BP 46, 38402 Saint-Martin d'Hères, France

B. Brogliato

Laboratoire D'Automatique de Grenoble (C.N.R.S. UA 228) Greco (69) "Systèmes Adaptatifs" Ensieg-Inpg BP 46, 38402 Saint-Martin d'Hères, France

This article analyzes the problem of modeling and compen sation of friction at velocities close to zero. A new model, linear in parameters, which captures the downward bends at low velocity is used to adaptively compensate for friction. The need for this type of model is mainly motivated by instability phenomena that can be caused by overcompensation when simple models (such as Coulomb friction models) are used as a basis for the friction compensation. This model, in combi nation with an adaptive computed torque method, was tested experimentally in a robot manipulator.

The International Journal of Robotics Research, Vol. 10, No. 3, 189-199 (1991)
DOI: 10.1177/027836499101000301
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E. Garcia, P. Gonzalez de Santos, and C. Canudas de Wit
Velocity Dependence in the Cyclic Friction Arising with Gears
The International Journal of Robotics Research, September 1, 2002; 21(9): 761 - 771.
[Abstract] [PDF]