@inproceedings{4e90e4c8013242bb88724b4053b9baf6,
title = "Manipulator Velocity Field Control with Dynamic Friction Compensation",
abstract = "A velocity field controller for robot manipulators is proposed in this paper. The control structure is based on the use of a velocity field kinematic control scheme for joint velocity resolution and a joint velocity controller. Since dynamic friction is considered at the robot joints, the inner joint velocity controller uses an observer for friction compensation. The proposed scheme has been implemented on a two degrees-of-freedom direct-drive arm, illustrating the performance of the proposed observer-based controller.",
keywords = "Direct-drive robot, Friction compensation, Operational space, Stability, Velocity field control",
author = "Javier Moreno and Rafael Kelly",
year = "2003",
doi = "10.1109/CDC.2003.1271747",
language = "Ingl{\'e}s",
isbn = "0780379241",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3834--3839",
booktitle = "Proceedings of the IEEE Conference on Decision and Control",
address = "Estados Unidos",
note = "42nd IEEE Conference on Decision and Control ; Conference date: 09-12-2003 Through 12-12-2003",
}