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Robust Adaptive Control of Flexible Joint Manipulators

โœ Scribed by SANDEEP JAIN; FARSHAD KHORRAMI


Book ID
108307457
Publisher
Elsevier Science
Year
1998
Tongue
English
Weight
165 KB
Volume
34
Category
Article
ISSN
0005-1098

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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