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Robust adaptive controller design for flexible joint manipulators

โœ Scribed by R.A. Al-Ashoor; K. Khorasani; R.V. Patel; A.J. Al-Khalili

Publisher
Elsevier Science
Year
1992
Tongue
English
Weight
926 KB
Volume
9
Category
Article
ISSN
0736-5845

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๐Ÿ“œ SIMILAR VOLUMES

Adaptive controller design for flexible
Adaptive controller design for flexible joint manipulators
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