• DocumentCode
    488832
  • Title

    Adaptive Control of Robot Manipulators with Flexible Joints

  • Author

    Lozano-Leal, Rogelio ; Brogliato, Bernard

  • Author_Institution
    Université de Technologie de Compiÿgne, Heudiasyc, Rue Personne de Roberval, B.P. 233, 60206 COMPIEGNE, Cedex, FRANCE
  • fYear
    1991
  • fDate
    26-28 June 1991
  • Firstpage
    938
  • Lastpage
    943
  • Abstract
    This paper presents an adaptive control scheme for flexible joint robot manipulators. Asymptotic stability is insured regardless of the joint flexibility value i.e. the results are not restricted to weak joint elasticity. Joint position and velocity tracking errors are shown to converge to zero with all the signals in the system remaining bounded.
  • Keywords
    Adaptive control; Elasticity; Equations; Manipulators; Robot kinematics; Shafts; Stability analysis; Tellurium;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1991
  • Conference_Location
    Boston, MA, USA
  • Print_ISBN
    0-87942-565-2
  • Type

    conf

  • Filename
    4791516
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=488832