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Robust independent joint controller design for industrial robot manipulators

โœ Scribed by Hsia, T.C.S.; Lasky, T.A.; Guo, Z.


Book ID
119776143
Publisher
IEEE
Year
1991
Tongue
English
Weight
463 KB
Volume
38
Category
Article
ISSN
1932-4529

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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