Title :
Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator
Author :
Ott, Christian ; Albu-Schäffer, Alin ; Hirzinger, Gerd
Author_Institution :
Inst. of Robotics & Mechatronics, DLR-German Aerosp. Center, Gottingen, Germany
Abstract :
This paper addresses the adaptive tracking control of flexible joint manipulators based on the singular perturbation approach. Comparisons between adaptive and nonadaptive tracking controllers are given. Experimental results with the DLR´s light weight robot are given for the 2-DOF case.
Keywords :
adaptive control; control system synthesis; convergence; flexible manipulators; manipulator dynamics; singularly perturbed systems; tracking; adaptive control; convergence; dynamic model; flexible joint manipulators; nonadaptive tracking; singular perturbation; steady-state-system; tracking control; Adaptive control; Aerospace control; Control systems; Lighting control; Manipulators; Mechatronics; Programmable control; Robot control; Robot sensing systems; Torque control;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1044052
