Title :
Adaptive nonlinear control for manipulators with joint elasticity
Author :
Yang, Jung Hua ; Fu, Li Chen
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
The problem of designing an adaptive control scheme for a flexible-joint manipulator is investigated and solved in this paper. A nonlinear model-based control scheme for the tracking of link variables is presented. Moreover, to circumvent the performance degradation due to parametric uncertainty, an adaptive control scheme is further proposed. In the developed control laws, only the position and velocity information of the actuators and links are utilized. Numerical simulations are also given to show the effectiveness of the proposed control laws
Keywords :
adaptive control; control system synthesis; manipulators; nonlinear control systems; position control; velocity control; adaptive nonlinear control; flexible-joint manipulator; joint elasticity; nonlinear model-based control scheme; performance degradation; position information; tracking; velocity information; Acceleration; Actuators; Adaptive control; Control systems; Feedback; Linearization techniques; Programmable control; Robots; Stability; Torque control;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532747
