Abstract:Purpose
Due to dynamic model is the basis of realizing various robot control functions, and it determines the robot control performance to a large extent, this paper aims to improve the accuracy of dynamic model for n-Degree of Freedom (DOF) serial robot.
Design/methodology/approach
This paper exploits a combination of the link dynamical system and the friction model to create robot dynamic behaviors. A practical approach to identify the nonlinear joint friction parameters including the slip properties in sl… Show more
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