Liu, Guanghui; Li, Qiang; Fang, Lijin; Han, Bing; … - In: Industrial Robot: the international journal of robotics … 47 (2020) 6, pp. 847-857
Purpose The purpose of this paper is to propose a new joint friction model, which can accurately model the real friction, especially in cases with sudden changes in the motion direction. The identification and sensor-less control algorithm are investigated to verify the validity of this model....