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• W3088402217 startingPage "1877" @default.
• W3088402217 abstract "This article presents a controller for global joint position tracking control of torque-driven robot manipulators involving dynamic Dahl friction. The control law has been designed using a novel theoretical Hamiltonian inspired framework, which allows global uniform asymptotic stability (GUAS) of the nonautonomous nonlinear closed-loop system. An observer is provided to estimate the nonmeasurable state of internal friction of the Dahl model, preserving the GUAS attribute in the closed-loop system. The performance of the proposed control scheme is illustrated through experiments on a two-degree-of-freedom direct-drive robot arm." @default.
• W3088402217 created "2020-10-01" @default.
• W3088402217 creator A5007101144 @default.
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• W3088402217 date "2021-09-01" @default.
• W3088402217 modified "2023-10-18" @default.
• W3088402217 title "A GUAS Joint Position Tracking Controller of Torque-Driven Robot Manipulators Influenced by Dynamic Dahl Friction: Theory and Experiments" @default.
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• W3088402217 doi "https://doi.org/10.1109/tcst.2020.3024134" @default.
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