Robust Regulator for Flexible-Joint Robots Using Integrator Backstepping
โ Scribed by A. A. Abouelsoud
- Book ID
- 110256606
- Publisher
- Springer Netherlands
- Year
- 1998
- Tongue
- English
- Weight
- 188 KB
- Volume
- 22
- Category
- Article
- ISSN
- 0921-0296
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๐ SIMILAR VOLUMES
In this paper a novel adaptive controller is proposed. It deals with trajectory tracking of an n-degree-of-freedom manipulator with elastic joints. Considered as an extension of known rigid controllers, this new scheme uses a corrective compensation accounting for the flexible mode. In order to ensu
A linear-state feedback regulator for flexible-joint manipulators is proposed. The linkposition vector (in the joint space) is regulated to a given desired position using partial state measurement. The actuator-position vector is regulated to a certain equilibrium point related to the link-desired p