Adaptive control for flexible-joint robots using a passive systems approach

✍ Scribed by A. Benallegae

• Publisher: Elsevier Science
• Year: 1995
• Tongue: English
• Weight: 591 KB
• Volume: 3
• Category: Article
• ISSN: 0967-0661
• DOI: 10.1016/0967-0661(95)00142-h

✦ Synopsis

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 ensure the global asymptotic stability of the overall system in closed loop, this compensation uses observation or measurement of the flexible joint forces. The stability of the closed-loop system is analysed using the passive feedback systems approach. Controller performances are illustrated by simulation studies.