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Model Reference Control (MRC) and adaptive MRC have been discussed at length by many authors. Despite the considerable volume of published work, no practical implementations of MRC by commercial robot manufacturers have been reported. The aim of the present paper is to examine the practical difficulties of implementing MRC on a robot and thus suggest reasons for the slow introduction of MRC. It...
Modern robot control methods require knowledge of the form and coefficients of the joint friction. The main feature of the present work is the practical application of the nonlinear filtering approach of Detchmendy and Sridhar, on both computer simulation and experimental data, in frictional identification. The results confirm the feasibility of the proposed estimation approach. In addition, different...
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