Friction observer and compensation for control of robots with joint torque measurement.
Luc Le TienAlin Albu-SchäfferAlessandro De LucaGerd HirzingerPublished in: IROS (2008)
Keyphrases
- control strategy
- joint space
- robot control
- robotic systems
- autonomous robots
- data acquisition
- autonomous systems
- control system
- industrial robots
- control method
- external forces
- robot behavior
- mobile robot
- robot teams
- disturbance rejection
- control algorithm
- unstructured environments
- control theory
- human operators
- motion control
- feedback loop
- control scheme
- robotic agents
- vision system