Collegues, i am a little discouraged by the lack of a clearly formed section in the literature on which algorithms are used to control the low-speed movement of gearless robots.
In my opinion, it is extremely important to take into account friction, disturbances in the measurement of controlled parameters, etc.
In this case, conventional PI, PID controllers are not suitable.
It seems to me that you need to start by studying specific examples of such systems. For example, I noticed the book Hard Disk Drive Servo Systems. Robust control is commonly used here.
What pushes me away is that the system can be unsteady and indefinite, and robust synthesis requires an accurate mathematical model.
Perhaps special adaptive algorithms are needed?
Are my arguments true, or is it worth going the other way? Can anyone advise several sources from which you can begin to study the issue?