✦ LIBER ✦

Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models

✍ Scribed by Amit Ailon

Publisher: Elsevier Science
Year: 1996
Tongue: English
Weight: 690 KB
Volume: 32
Category: Article
ISSN: 0005-1098
DOI: 10.1016/0005-1098(96)00087-8

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✦ Synopsis

This paper considers the set-point regulation problem of a flexible-joint robot with unknown parameters where only position measurements are available. The proposed iterative schemes guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. An essential tool in the present approach is the contraction mapping theorem.