DocumentCode
2536126
Title
An approach to the adaptive control of elastic at joints robots
Author
Tomei, P. ; Nicosia, S. ; Ficola, A.
Author_Institution
Seconda Università di Roma, Roma, Italy
Volume
3
fYear
1986
fDate
31503
Firstpage
552
Lastpage
558
Abstract
The problem of controlling robots with rotary and flexible joints is considered. An adaptive control strategy based on the measurement of the position of the links and of the speed of the actuator is proposed. The results, tested by simulation, are satisfactory and can be justified considering a linearized model for the robot.
Keywords
Actuators; Adaptive control; Displacement control; Equations; Position measurement; Robot control; Robotics and automation; Testing; Trajectory; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087665
Filename
1087665
Link To Document