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Nonlinear adaptive motion control for manipulators with compliant joints

✍ Scribed by Jung-Hua Yung; Li-Chen Fu


Book ID
117874399
Publisher
IEEE
Year
1998
Tongue
English
Weight
255 KB
Volume
28
Category
Article
ISSN
1083-4419

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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