Article : texte imprimé

Independent Identification of Friction Characteristics for Parallel Manipulators

Abdellatif, Houssem, Auteur ; Grotjahn, Martin, Auteur ; Heimann, Bodo, Auteur |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 129 N° 3, Mai 2007)

The compensation for friction or joint losses in robotic manipulators contributes to an important improvement of the control quality. Besides appropriate friction modeling, experimental identification of the model parameters is fundamental towar[...]

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