𝔖 Bobbio Scriptorium
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A SURVEY ON THE CONTROL OF FLEXIBLE JOINT ROBOTS

✍ Scribed by S. Ozgoli; H. D. Taghirad


Book ID
114944843
Publisher
John Wiley and Sons
Year
2008
Tongue
English
Weight
385 KB
Volume
8
Category
Article
ISSN
1561-8625

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This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm c