The nonlinear friction compensation in the trajectory tracking of robot

Friction, especially its nonlinear component, may degrade the tracking performance of robot. In this paper, a novel compensation method of nonlinear friction is presented, which modified the traditional Southward's compensation method of nonlinear friction. Having estimated the nonlinear friction model using an identification method, the effect caused by its nonlinear component can be compensated, and enhanced tracking performance is verified under the SCARA robot experimental platform.