✦ LIBER ✦

Adaptive controller design for flexible joint manipulators

✍ Scribed by Shuzhi S. Ge

Publisher: Elsevier Science
Year: 1996
Tongue: English
Weight: 619 KB
Volume: 32
Category: Article
ISSN: 0005-1098
DOI: 10.1016/0005-1098(96)85559-2

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✦ Synopsis

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 e, is the motor tracking error. The resulting boundary layer and quasi-steady-state systems are made exponentially stable: therefore the statements of Tychonov's theorem are valid for an infinite time interval.

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