@inproceedings{d02af92a090b40de94e63639b7bde45a,
title = "Pose regulation of robot manipulators with dynamic friction compensation",
abstract = "The regulation of end-effector pose of manipulators is addressed in this paper. We present a solution to the operational space pose regulation considering dynamic friction at the robot joints. It is assumed the exact knowledge of the dynamic and kinematic parameters of the robot, including those of the friction. The controller proposed for the pose regulation problem is based on the resolved acceleration control scheme. Experimental results on a two degrees-of-freedom direct-drive arm support the accuracy of the proposed method.",
keywords = "Friction observer, Resolved acceleration control, Robot pose regulation, Stability",
author = "Javier Moreno and Rafael Kelly",
year = "2005",
doi = "10.1109/CDC.2005.1582849",
language = "Ingl{\'e}s",
isbn = "0780395689",
series = "Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05",
pages = "4368--4372",
booktitle = "Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05",
note = "44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 ; Conference date: 12-12-2005 Through 15-12-2005",
}