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Adaptive control of flexible joint manipulators

โœ Scribed by Mark W. Spong

Publisher
Elsevier Science
Year
1989
Tongue
English
Weight
461 KB
Volume
13
Category
Article
ISSN
0167-6911

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๐Ÿ“œ SIMILAR VOLUMES

Adaptive controller design for flexible
Adaptive controller design for flexible joint manipulators
โœ Shuzhi S. Ge ๐Ÿ“‚ Article ๐Ÿ“… 1996 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 619 KB

A new adaptive controller for flexible joint robots is presented here based on singular perturbation theory and using only position and velocity feedback by modelling the 'motor tracking error' Ke, as the fast variables instead of the joint elastic forces, where K represents the joint elasticity and

Composite adaptive control of flexible j
Composite adaptive control of flexible joint robots
โœ Jing Yuan; Yury Stepanenko ๐Ÿ“‚ Article ๐Ÿ“… 1993 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 738 KB

An economical adaptive controller is presented for flexible joint robots with arbitrary joint stiffness. It does not necessarily require the time derivatives of the regressor matrix while still providing stable closed-loop tracking performance.

On the adaptive control of flexible join
On the adaptive control of flexible joint robots
โœ Yau-Zen Chang; Ron W. Daniel ๐Ÿ“‚ Article ๐Ÿ“… 1992 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 403 KB

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