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Position/force control of uncertain constrained flexible joint robots

โœ Scribed by L. Huang; S.S. Ge; T.H. Lee

Publisher
Elsevier Science
Year
2006
Tongue
English
Weight
616 KB
Volume
16
Category
Article
ISSN
0957-4158

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๐Ÿ“œ SIMILAR VOLUMES

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An inverse dynamics control algorithm for constrained #exible-joint robots is developed. It is shown that in a #exible-joint robot, the acceleration level inverse dynamic equations are singular because of the elastic media. Implicit numerical integration methods that account for the higher order der

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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 c