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No exact knowledge of the friction models is required for the design of the controllers. Furthermore, the tracking controller is also robust with respect to the uncertain link parameters. Using Lyapunov's direct method, we can show that the time\u2010invariant positional regulation controller guarantees the global boundedness stability of the closed\u2010loop system, while the time\u2010varying positional tracking controller guarantees the global asymptotic stability of the closed\u2010loop system. The numerical simulations of the controllers on a two\u2010link robot are presented as illustrations. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110602","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T15:18:04Z","timestamp":1183735084000},"page":"451-470","source":"Crossref","is-referenced-by-count":30,"title":["Joint stick\u2010slip friction compensation of robot manipulators by using smooth robust controllers"],"prefix":"10.1002","volume":"11","author":[{"given":"L.","family":"Cai","sequence":"first","affiliation":[]},{"given":"G.","family":"Songag","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,27]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"A.GogoussisandM.Donath \u201cCoulomb friction joint and drive effects in robot mechanisms \u201d IEEE International Conference on Robotics and Automation 1987 Vol. 2 pp.828\u2013836.","DOI":"10.1109\/ROBOT.1987.1087978"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"B.Armstrong \u201cFriction: Experimental determination middling and compensation \u201d IEEE International Conference on Robotics and Automation 1988 Vol. 3 pp.1422\u20131427.","DOI":"10.1109\/ROBOT.1988.12266"},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"C.Canudas de Witet al. \u201cAdaptive friction compensation in robot manipulators: Low\u2010velocities \u201d IEEE International Conference on Robotics and Automation 1989 pp.1352\u20131357.","DOI":"10.1109\/ROBOT.1989.100168"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"P.Dupont \u201cFriction modeling in dynamic robot simulation \u201d IEEE International Conference on Robotics and Automation 1990 pp.1370\u20131376.","DOI":"10.1109\/ROBOT.1990.126193"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"W. 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