Abstract
This article presents a controller for global joint position tracking control of torque-driven robot manipulators involving dynamic Dahl friction. The control law has been designed using a novel theoretical Hamiltonian inspired framework, which allows global uniform asymptotic stability (GUAS) of the nonautonomous nonlinear closed-loop system. An observer is provided to estimate the nonmeasurable state of internal friction of the Dahl model, preserving the GUAS attribute in the closed-loop system. The performance of the proposed control scheme is illustrated through experiments on a two-degree-of-freedom direct-drive robot arm.
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