DocumentCode
2132526
Title
Decentralised adaptive control of flexible joint robots
Author
Ge, S.S. ; Allwright, J.C. ; Besant, C.B.
Author_Institution
Nat. Univ. of Singapore, Singapore
Volume
2
fYear
1994
fDate
21-24 March 1994
Firstpage
1035
Abstract
Decentralised control has the advantages of requiring less computing resources than centralised control, and yields high speed operation, since the subsystem controllers are implemented in parallel. A decentralised adaptive control method for flexible joint robots is presented here by combining recent results on decentralised adaptive control for rigid body robots and singular perturbation theory. Neither acceleration nor jerk information are needed.
Keywords
adaptive control; decentralised control; dynamics; robots; decentralised adaptive control; flexible joint robots; rigid body robots; singular perturbation theory; subsystem controllers;
fLanguage
English
Publisher
iet
Conference_Titel
Control, 1994. Control '94. International Conference on
Conference_Location
Coventry, UK
Print_ISBN
0-85296-610-5
Type
conf
DOI
10.1049/cp:19940277
Filename
327303
Link To Document