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Adaptive friction compensation in trajectory tracking control of DLR medical robots with elastic joints

Luc Le Tien, Alin Albu-Schäffer. Adaptive friction compensation in trajectory tracking control of DLR medical robots with elastic joints. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 1149-1154, IEEE, 2012. [doi]

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Luc Le Tien

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Alin Albu-Schäffer

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