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A novel actuation for a robotic fish using a flexible joint

✍ Scribed by Dongwon Yun,Soohyun Kim,Kyung-Soo Kim…


Book ID
126367635
Publisher
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Year
2014
Tongue
English
Weight
768 KB
Volume
12
Category
Article
ISSN
1598-6446

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Adaptive control for flexible-joint robo
✍ A. Benallegae 📂 Article 📅 1995 🏛 Elsevier Science 🌐 English ⚖ 591 KB

In this paper a novel adaptive controller is proposed. It deals with trajectory tracking of an n-degree-of-freedom manipulator with elastic joints. Considered as an extension of known rigid controllers, this new scheme uses a corrective compensation accounting for the flexible mode. In order to ensu