Friction and rigid body identification of robot dynamics

A survey of models, analysis tools and compensation methods for the control of machines with friction

Brian Armstrong-Hélouvry, Pierre E. Dupont, Carlos Canudas de Wit · Automatica · 1994 · 2.6K citations · Full text

Engineering, Analysis Tools, Mechanical Engineering +19

Control of Machines with Friction

Brian Armstrong-He ́louvry, Andres Soom · Journal of Tribology · 1992 · 616 citations · Full text

Motion Control, Machine Friction.- 2.2, Engineering +14

A new geometric notation for open and closed-loop robots

Wisama Khalil, J. Kleinfinger · 1986 · 387 citations

Robot Kinematics, Robot Control, New Geometric Notation +12

Exciting Trajectories for the Identification of Base Inertial Parameters of Robots

Maxime Gautier, Wisama Khalil · The International Journal of Robotics Research · 1992 · 298 citations

Robot Kinematics, Engineering, Field Robotics +18

Adaptive Friction Compensation in Robot Manipulators: Low Velocities

Carlos Canudas de Wit, P. Noël, A. Aubin et al. · The International Journal of Robotics Research · 1991 · 263 citations

Robot Kinematics, Motion Control, Feedforward Control +15