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
โฆ LIBER โฆ
Classical control design for a flexible manipulator: Modeling and control system design
โ Scribed by Ower, J.; de Vegte, J.
- Book ID
- 117883847
- Publisher
- IEEE
- Year
- 1987
- Tongue
- English
- Weight
- 480 KB
- Volume
- 3
- Category
- Article
- ISSN
- 0882-4967
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