Friction observer and compensation for control of robots with joint torque measurement

Luc Le Tien, Alin Albu-Schäffer, Alessandro De Luca, Gerd Hirzinger. Friction observer and compensation for control of robots with joint torque measurement. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France. pages 3789-3795, IEEE, 2008. [doi]

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