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- W2394012940 abstract "The on-line algorithm is presented to study the friction coefficient of the friction model of constrained robot,and to control the inputs of robot by friction compensation.The friction forces can be gained based on the friction coefficient obtained,and then the unknown friction forces can be deleted.A friction model of the robot is established,and genetic algorithm is applied to study and optimize the model to gain the optical friction coefficient to optimize friction model,and to delete the unknown friction better.The solution indicates that the methods can gain the fiction coefficient rapidly by introducing the genetic algorithm.And the model of friction force is optimized,and the contact fiction compensation of constrained robots is done.Thus,a conclusion can be drawn that the model of contact friction force can be optimized by genetic algorithm.Then the on-line friction compensation of contact robot can be realized.And the simulation results indicate that the method has feasibility in contact friction compensation,and can be used in friction compensation of robots on line." @default.
- W2394012940 created "2016-06-24" @default.
- W2394012940 creator A5011275907 @default.
- W2394012940 date "2006-01-01" @default.
- W2394012940 modified "2023-10-17" @default.
- W2394012940 title "Contact Friction Compensation of Robots Using Genetic Algorithm" @default.
- W2394012940 hasPublicationYear "2006" @default.
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