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
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;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220286
