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Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. September 2001, 123(3): 338–345.
Published Online: November 9, 1998
..., while improving the tracking performance exceptionally well. To further improve the performance of the system for free-motion case, a feedforward friction-compensation algorithm is implemented in addition to the robust torque control. It is shown that friction-compensation will shrink the model...