The initial results of a research aimed at investigating to what extent high resolution encoders, which are getting available for common industrial motion control and robotics applications, can be exploited to compensate for non linear friction terms are presented in this paper. The 22 bits resolution sensor used allowed a neat analysis of the dynamic behavior of friction forces in the presliding regime, and especially of hysteresis loops. A recently proposed friction model has been validated. However, the influence of the cogging torque on the motor has been found to play a key role.
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