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Friction compensation in mechatronic systems

The paper deals with the model-based compensation of friction in velocity and position controlled servomechanisms. A class of single degree of freedom mechanical systems with friction nonlinearity acting at the plant input is considered. Two approaches to friction compensation using dynamic model-based feedforward control and disturbance observer based feedback control are studied and compared to each other. Experimental results with an industrial grade robotic manipulator demonstrate the performance of the proposed methods.