Author/Editor		Jeraj, Janez; Žlajpah, Leon
Title		Adaptivna kompenzacija trenja
Translated title		Adaptive friction compensation
Type		članek
Source		In: Zajc B, editor. Zbornik 7. elektrotehniške in računalniške konference ERK'98. Zvezek B. Računalništvo in informatika, umetna inteligenca, robotika, razpoznavanje vzorcev, biomedicinska tehnika, močnostna elektrotehnika, didaktika, študentski članki; 1998 sep 24-26; Portorož. Ljubljana: Slovenska sekcija IEEE,
Publication year		1998
Volume		str. 175-8
Language		slo
Abstract		In order to reduce position error, adaptive friction compensation was applied to the first joint of 4DOF planar manipulator with low gear ratios. Mathematical notation of adaptive friction compensator based on a model reference adaptive method is given. Compensator was evaluated using a Matlab/Simulink Planar Manipulator Toolbox that enables design and simulation of different control schemes and in the next step automatic testing of these algorithms on a real system. Results obtained by simulation and experiments on real system reduced position error for one grade.
Descriptors		FRICTION ALGORITHMS MODELS, THEORETICAL ROBOTICS