Adaptive Compensation of Torque Disturbances in an Industrial Robot
نویسندگان
چکیده
A compact model of torque disturbances in the brushless motors of an industrial manipulator is discussed and algorithms are given for the identification of model parameters. Thanks to its compactness, the model allows the implementation of a straightforward and effective technique for disturbance compensation. The compensation is adaptive as estimates of the parameters of the model are updated online. Experimental results are given to assess the effectiveness of the proposed approach.
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