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This work demonstrates that friction does have a predictable structure, and that significant performance improvement can be realized through its proper compensation. Experiments performed to determine the static, Coulomb, and viscous friction of the GP132 are presented. In addition to these components, the robot is shown to have significant gravity load\u2010dependent and position\u2010dependent friction. The accuracy of the friction models are verified through several experiments and are shown to be considerably better than previously formulated models.<\/jats:p>","DOI":"10.1002\/rob.4620100705","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:56:55Z","timestamp":1183730215000},"page":"947-971","source":"Crossref","is-referenced-by-count":17,"title":["Friction modeling and compensation for an industrial robot"],"prefix":"10.1002","volume":"10","author":[{"given":"Stephen M.","family":"Phillips","sequence":"first","affiliation":[]},{"given":"Kevin R.","family":"Ballou","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"B. S. R.Armstrong \u201cDynamics for Robot Control: Friction Modeling and Ensuring Excitation During Parameter Identification \u201d Ph.D. thesis Stanford University Stanford CA 1988."},{"key":"e_1_2_1_3_2","unstructured":"M. E.Beattie \u201cNonlinear Modeling and Control of an Industrial Robot \u201d master's thesis Case Western Reserve University Cleveland OH 1989."},{"key":"e_1_2_1_4_2","unstructured":"K.Souccar \u201cRobust Near Time\u2010Optimal Robot Control: Theory and Experiments \u201d Master's thesis Case Western Reserve University 1989."},{"key":"e_1_2_1_5_2","unstructured":"M. S.Branicky \u201cEfficient Configuration Space Transforms for Real\u2010Time Robotic Reflexes \u201d master's thesis Case Western Reserve University Cleveland OH 1990."},{"key":"e_1_2_1_6_2","unstructured":"V. K.Krishnaswamy \u201cOn\u2010Line Motion Planning in 3\u2010D Configuration Space \u201d master's thesis Case Western Reserve University Cleveland OH 1990."},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"C.Canudas K. J.Astr\u00f6m andK.Braun \u201cAdaptive friction compensation in dc motor drives \u201d Proc. of IEEE International Conf. on Robotics and Automation 1986 pp.1556\u20131561.","DOI":"10.1109\/ROBOT.1986.1087407"},{"key":"e_1_2_1_8_2","unstructured":"C.Canudas P.Noel A.Aubin B.Brogliato andP.Drevet \u201cAdaptive friction compensation in robot manipulators: Low\u2010velocities \u201d Proc. of IEEE International Conf on Robotics and Automation 1989 pp.1352\u20131357."},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000301"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(74)90018-1"},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1063\/1.1699869"},{"key":"e_1_2_1_12_2","first-page":"143","article-title":"The effects of backlash and of speed\u2010dependent friction on the stability of closed\u2010cycle control systems","volume":"94","author":"Tustin A.","year":"1947","journal-title":"J. of IEEE"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1063\/1.1714954"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-3972-8"},{"key":"e_1_2_1_15_2","doi-asserted-by":"crossref","unstructured":"P. R.Dahl \u201cMeasurement of solid friction parameters of ball bearings \u201d Proc. of 6th Annual Symp. on Incremental Motion Control Systems and Devices University of Illinois 1977.","DOI":"10.21236\/ADA042599"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(84)90081-5"},{"key":"e_1_2_1_17_2","doi-asserted-by":"crossref","unstructured":"M. B.LeahyJr.andG. N.Saridis \u201cThe effects of unmodeled forces on robot control \u201d Proc. of 25th Conf. Decision and Control 1986 pp.403\u2013407.","DOI":"10.1109\/CDC.1986.267289"},{"key":"e_1_2_1_18_2","doi-asserted-by":"crossref","unstructured":"K.Tomoaki G.Anwar andM.Tomizuka \u201cApplication of nonlinear friction compensation to robot arm control \u201d Proc. of IEEE International Conf. on Robotics and Automation 1986 pp.722\u2013727.","DOI":"10.1109\/ROBOT.1986.1087588"},{"volume-title":"The Caisr Mechatronics Lab Real\u2010Time Multiprocessor System","year":"1989","author":"Newman W. 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