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    IROS
    2008
    IEEE
    134views Robotics» more  IROS 2008»
    Friction observer and compensation for control of robots with joint torque measurement
    14 years 6 months ago
    Friction observer and compensation for control of robots with joint torque measurement
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    — 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 ...
    Luc Le Tien, Alin Albu-Schäffer, Alessandro D...
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