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Control of an anthropomorphic manipulator using LuGre friction model - Design and experimental validation

Ali, Khurram; Mehmood, Adeel; Muhammad, Israr; Razzaq, Sohail; Iqbal, Jamshed


Khurram Ali

Adeel Mehmood

Israr Muhammad

Sohail Razzaq


Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized for the robotic manipulator. The dynamic model of the robot has been derived by considering the dynamic friction model. The proposed three-state model is validated for all the joints of the manipulator. The integral sliding mode control (ISMC) methodology has been designed; the trajectories of system every time begin from the sliding surface and it eliminates the reaching phase with assistance of integral term in the sliding surface manifold. The designed control law has been first simulated in Matlab/Simulink environment to characterize the control performance in terms of tracking of various trajectories. The results confirm the effectiveness of the proposed control law with model-based friction compensation. The transient parameters like settling and peak time have improvement as well have better results with friction than without considering the friction. The proposed control law is then realized on an in-house developed autonomous articulated robotic rducational platform (AUTAREP) and NI myRIO hardware interfaced with LabVIEW. Experimental results also witnessed the trajectory tracking by the robotic platform.


Ali, K., Mehmood, A., Muhammad, I., Razzaq, S., & Iqbal, J. (2021). Control of an anthropomorphic manipulator using LuGre friction model - Design and experimental validation. Strojniški vestnik - Journal of Mechanical Engineering, 67(9), 401-410.

Journal Article Type Article
Acceptance Date Aug 18, 2021
Publication Date 2021
Deposit Date Sep 15, 2021
Publicly Available Date Oct 27, 2022
Journal Strojniški vestnik – Journal of Mechanical Engineering
Publisher University of Ljubljana, Faculty of Mechanical Engineering
Peer Reviewed Peer Reviewed
Volume 67
Issue 9
Pages 401-410
Public URL


Published paper (3.2 Mb)

Copyright Statement
© Journal of Mechanical Engineering. All rights reserved.

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