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Hybrid adaptive neural control for flexible manipulators

โœ Scribed by Maouche, Amin Riad; Attari, Mokhtar


Book ID
126062407
Publisher
Inderscience Publishers
Year
2009
Tongue
English
Weight
471 KB
Volume
7
Category
Article
ISSN
1740-8865

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Adaptive controller design for flexible
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