Abstract
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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Ferretti, G., Magnani, G., Rocco, P. Model-Based Friction Compensation. In: Siciliano, B., Melchiorri, C., De Luca, A., Casalino, G. (eds) Advances in Control of Articulated and Mobile Robots. Springer Tracts in Advanced Robotics, vol 10. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-44410-7_4
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DOI: https://doi.org/10.1007/978-3-540-44410-7_4
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Publisher Name: Springer, Berlin, Heidelberg
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Online ISBN: 978-3-540-44410-7
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