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    IROS
    2008
    IEEE
    134views Robotics» more  IROS 2008»
    Friction observer and compensation for control of robots with joint torque measurement
    13 years 10 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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