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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
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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
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