An Adaptive Friction Compensator for Global Tracking in Robot Manipulators
It is well known that one of the major limitations to achieve good performance in mechanical systems is the presence of friction, which is a nonlinear phenomenon difficult to model. In a recent paper Canudas and co-workers proposed to represent it with a nonlinear dynamical model. The friction compensation problem with this model is stymied by the fact that the parameters are uncertain and some of