DocumentCode
2402352
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
Volume
2
fYear
2002
fDate
2002
Firstpage
2018
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN
0-7803-7398-7
Type
conf
DOI
10.1109/IRDS.2002.1044052
Filename
1044052
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