DocumentCode
309442
Title
A stabilizing controller design for flexible joint robot manipulators
Author
Lee, M.H. ; Baek, W.B. ; Lee, J.N. ; Yoon, K.S. ; Hong, K.S.
Author_Institution
Dept. of Control & Mech. Eng., Pusan Nat. Univ., South Korea
Volume
2
fYear
1993
fDate
26-30 Jul 1993
Firstpage
805
Abstract
Presents a stabilizing controller design method for flexible joint robot manipulators, which incorporates an additional stabilizing control law with the sliding property. The simulations of a 2-D/O/F/ flexible joint manipulator show that the proposed scheme is effective for manipulators with highly flexible joints
Keywords
manipulators; flexible joint robot manipulators; simulations; sliding property; stabilizing control law; stabilizing controller design; Actuators; Belts; Design engineering; Design methodology; Integral equations; Manipulator dynamics; Motion control; Reduced order systems; Robots; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location
Yokohama
Print_ISBN
0-7803-0823-9
Type
conf
DOI
10.1109/IROS.1993.583178
Filename
583178
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