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Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken (Decoupling Control and Friction Compensation for Robot with Elastic Coupled Joints)

Luc Le Tien, Alin Albu-Schäffer, Klaus Janschek, Gerd Hirzinger. Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken (Decoupling Control and Friction Compensation for Robot with Elastic Coupled Joints). Automatisierungstechnik, 58(9):499-511, 2010. [doi]

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