Friction Compensation and Robust Hybrid

In the force/position control, possible uncertainties about the manipulator parameters and the presence of friction and stiction on the contact surfaces compromise the correct decoupling of the two controls and sometimes can cause instability. In this paper, a fied friction compensation function is constructed in order to achieve stability, when friction and stiction are present, and robust control techniques are applied; some simulation results of the behaviour of a force/position controlled planar manipulator are reported and analysed.

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