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An Adaptive Friction Compensator for Global Tracking in Robot Manipulators

A novel adaptive friction compensator based on a dynamic model recently proposed in the literature is presented in this paper. The compensator ensures global position tracking when applied to an n degree of freedom robot manipulator perturbed by friction forces with only measurements of position and velocity, and all the system parameters (robot and friction model) unknown. Instrumental for the so

Commissioning of the test fel at MAX-Lab

An installation for testing techniques related to seeding and harmonic generation has been completed at MAXlab. The aim is to study the processes around seeded harmonic generation at 130/88/54 nm, the 2/3/5 harmonic of a Ti: Sapphire laser. During the spring 2008 the commissioning work has begun and this paper will report on the progress. The test FEL is built around the existing linac injector at