DocumentCode
3181630
Title
A method to design adaptive controllers for flexible joint robots
Author
Nicosia, S. ; Tomei, P.
Author_Institution
Dipartimento di Ingegneria Elettronica, Roma Univ., Italy
fYear
1992
fDate
12-14 May 1992
Firstpage
701
Abstract
An approach to the design of control laws for robot manipulators is proposed. This approach can be applied to robots having flexible joints as well. An application to the case of unknown parameters is also given with reference to a single-link robot with one revolute elastic joint. A drawback to the method considered is the complexity of the resulting control law, as shown by the single-link example. Some simulation results for a three-link rigid robot are also presented
Keywords
adaptive control; control system synthesis; distributed parameter systems; large-scale systems; robots; adaptive controller design; flexible joint robots; revolute elastic joint; single-link robot; three-link rigid robot; Adaptive control; Algorithm design and analysis; Design methodology; Elasticity; Feedback; Manipulators; Programmable control; Robot control; Robust control; Springs;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220286
Filename
220286
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