New Adaptive Control Methods for n-Link Robot Manipulators With Online Gravity Compensation: Design and Experiments - Yang, Tong; Sun, Ning; Fang, Yongchun; Xin, Xin; Chen, He (IEEE transactions on industrial electronics (1982), 2022)
Keywords: Adaptive control; Friction; Gravity; gravity compensation; Manipulator dynamics; mechatronics; Process control; Regulation; robot manipulators; Service robots; Stability analysis