ICRA
2006
IEEE
14 years 5 months ago
2006
IEEE
— This paper presents a model-based approach to cancel friction in the joints of the manipulators of a forcefeedback telerobotic system. Friction compensation can improve the tra...
IROS
2008
IEEE
14 years 6 months ago
2008
IEEE
— In this paper we introduce a friction observer for robots with joint torque sensing (in particular for the DLR medical robot) in order to increase the positioning accuracy and ...
HAPTICS
2008
IEEE
14 years 6 months ago
2008
IEEE
Abstract. This paper describes a preliminary work devoted to the design of a control architecture for a defective haptic interface, i.e. an underactuated haptic interface not able ...