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An Adaptive Controller for Two Cooperating Flexible Manipulators

✍ Scribed by Damaren, Christopher J.


Book ID
112186458
Publisher
John Wiley and Sons
Year
2003
Tongue
English
Weight
133 KB
Volume
20
Category
Article
ISSN
0741-2223

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Adaptive controller design for flexible
✍ Shuzhi S. Ge πŸ“‚ Article πŸ“… 1996 πŸ› Elsevier Science 🌐 English βš– 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