Joint torque servo of a high friction robot manipulator based on time-delay control with feed-forward friction compensation

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.