High-performance robot control is one of the most investigated topics in both research and industry. Being able to compensate for dynamics indeed major challenge. Joint friction commonly main issue, especially sensorless (i.e., no availability torque/force sensors) compliance-controlled robots interaction application purposes. The presented paper aims propose a methodology Cartesian impedance c...

With safety aspects due to closer human-robot interaction and increased requirements in energy effiency due to mobile applications, series elastic joint concepts receive high priority in contemporary robotics. Beyond making robots more safe and flexbile, such concepts can store energy and thus optimize the energetic efficiency of the robot’s motion. Therefore adjusting the stiffness is advantag...

Comparing with the serial ones, parallel manipulators have potential advantages in terms of high stiffness, accuracy and speed (Merlet, 2001). Especially the high accuracy and speed performances make the parallel manipulators widely applied to the following fields, like the pick-and-place operation in food, medicine, electronic industry and so on. At present, the key issues are the ways to meet...

Two distinct regimes are considered when it comes to friction: gross-sliding regime and presliding regime [1]. Friction in the gross-sliding regime contains familiar and classic concepts of static friction, Coulomb friction, and Stribeck curve. It is more intriguing, on the other hand, that friction in the pre-sliding regime behaves like a non-linear spring with hysteresis, significantly impact...

In this paper, we design an adaptive controller to compensate the nonlinear friction model when the output is the position. First, we present an adaptive differential filter to estimate the velocity. Secondly, the dynamic friction force is compensated by a fuzzy adaptive controller with position measurements. Finally, a simulation result for the proposed controller is demonstrated.