{"id":930,"date":"2020-05-18T12:25:28","date_gmt":"2020-05-18T10:25:28","guid":{"rendered":"https:\/\/rmc-intra03.robotic.dlr.de\/mil\/?p=930"},"modified":"2020-07-02T23:34:33","modified_gmt":"2020-07-02T21:34:33","slug":"model-free-friction-observers-for-flexible-joint-robots","status":"publish","type":"post","link":"https:\/\/mil.robotic.dlr.de\/2020\/05\/18\/model-free-friction-observers-for-flexible-joint-robots\/","title":{"rendered":"Model-Free Friction Observers for Flexible Joint Robots"},"content":{"rendered":"\n<figure class=\"wp-block-image\"><img loading=\"lazy\" width=\"1011\" height=\"569\" src=\"https:\/\/mil.robotic.dlr.de\/wp-content\/uploads\/2020\/05\/Paper_FabianBeck.png\" alt=\"\" class=\"wp-image-928\" srcset=\"https:\/\/mil.robotic.dlr.de\/wp-content\/uploads\/2020\/05\/Paper_FabianBeck.png 1011w, https:\/\/mil.robotic.dlr.de\/wp-content\/uploads\/2020\/05\/Paper_FabianBeck-300x169.png 300w, https:\/\/mil.robotic.dlr.de\/wp-content\/uploads\/2020\/05\/Paper_FabianBeck-768x432.png 768w\" sizes=\"(max-width: 1011px) 100vw, 1011px\" \/><\/figure>\n\n\n\n<p><strong>18 May 2020 &#8211; <\/strong><\/p>\n\n\n\n<p>Up until today, joint friction compensation poses a fundamental  challenge for robotics control, as high friction losses directly  influence the performance of the robot and its sensitive interaction  with its environment. <\/p>\n\n\n\n<p>Scientists of the DLR-Institute of  Robotics and Mechatronics work intensively on this issue and have  presented the results of their research works in a scientific  publication. The paper tackles the problem of friction compensation,  without using a friction model. The special feature of the proposed  friction observer is that the asymptotic stability and passivity of the  controller are maintained. Another advantage is that it provides a clear  understanding for the stiction compensation which is hard to capture in  model-free approaches. Simulations and experiments validating the  proposed scheme round off the paper. <\/p>\n\n\n\n<p>The paper was published in \nDecember of 2019 in the journal IEEE Transactions on Robotics (Volume \n35, Issue 6). The journal reports on research and applications in the \nfield of robotics and was the number one most-cited journal for topics \nrelated to robotics in 2003. <\/p>\n\n\n\n<p>You can find the paper under: <\/p>\n\n\n\n<p><a href=\"https:\/\/ieeexplore.ieee.org\/document\/8781838\">https:\/\/ieeexplore.ieee.org\/document\/8781838<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>18 May 2020 &#8211; Up until today, joint friction compensation&#8230;<\/p>\n","protected":false},"author":7,"featured_media":928,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"inline_featured_image":false},"categories":[15],"tags":[],"acf":[],"_links":{"self":[{"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/posts\/930"}],"collection":[{"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/users\/7"}],"replies":[{"embeddable":true,"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/comments?post=930"}],"version-history":[{"count":3,"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/posts\/930\/revisions"}],"predecessor-version":[{"id":979,"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/posts\/930\/revisions\/979"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/media\/928"}],"wp:attachment":[{"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/media?parent=930"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/categories?post=930"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mil.robotic.dlr.de\/wp-json\/wp\/v2\/tags?post=930"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}