Hur, S.-M. Kim, S.-K. Oh, Y. Oh, S.-R. 2024-01-12T06:55:42Z 2024-01-12T06:55:42Z 2022-03-07 2012-09 0000-0000 https://pubs.kist.re.kr/handle/201004/80380 This paper addresses a torque control method in a high friction robot manipulator. A stiction feed-forward compensator is proposed to eliminate the control problem caused by the nonlinear friction and disturbance. In order to control a robot manipulator with unknown effects, a time-delay control method is used to control the torque. One degree of freedom flexible joint robot manipulator with a joint torque sensor is used to show the performance of the proposed control method. ？ 2012 IEEE. English IEEE Joint torque servo of a high friction robot manipulator based on time-delay control with feed-forward friction compensation Conference 10.1109/ROMAN.2012.6343728 1 2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012, pp.37 - 42 2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 37 42 US Paris 2012-09-09 Proceedings - IEEE International Workshop on Robot and Human Interactive Communication 2-s2.0-84870795934