An ILC approach to feed-forward friction compensation

An iterative, learning based, feed-forward method for compensation offriction in industrial robots is studied. The method is put into an ILC framework by using a two step procedure proposed inliterature. The friction compensation method is based on ablack-box friction model which is learned from operational data,and this can be seen as the first step in the method. In the second step the learned model is usedfor compensation of the friction using the reference joint velocityas input. The approach is supported by simulation experiments.