Model-Free Energy-Based Friction Compensation for Industrial Collaborative Robots as Haptic Displays

Collaborative robots are a promising alternative to traditional haptic displays due to their expansive workspaces, ability to generate substantial forces, and cost-effectiveness. However, they have higher levels of friction compared to conventional haptic displays, which negatively impact the precis...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2024-06, p.1-12
Hauptverfasser:	Dinc, Huseyin Tugcan, Lee, Joong-Ku, Ryu, Jee-Hwan
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptation models Adaptive friction compensation collaborative robots conservation of energy Friction Haptic interfaces Kinetic energy Mathematical models Robots Torque
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