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On the adaptive control of flexible joint robots

โœ Scribed by Yau-Zen Chang; Ron W. Daniel

Publisher
Elsevier Science
Year
1992
Tongue
English
Weight
403 KB
Volume
28
Category
Article
ISSN
0005-1098

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โœฆ Synopsis

This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts.

Simulation results for a three-degree-of-freedom direct drive flexible joint arm currently being developed at Oxford University are included to show the validity of the control scheme.

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