DocumentCode
754031
Title
Adaptive control of robot manipulators with flexible joints
Author
Lozano, Rogelio ; Brogliato, Bernard
Author_Institution
Univ. de Technol. de Compiegne, France
Volume
37
Issue
2
fYear
1992
fDate
2/1/1992 12:00:00 AM
Firstpage
174
Lastpage
181
Abstract
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. Moreover, the joint flexibility is not assumed to be known. Joint position and velocity tracking errors are shown to converge to zero with all the signals in the system remaining bounded
Keywords
adaptive control; robots; stability; adaptive control; asymptotic stability; flexible joints; robot manipulators; tracking errors; Adaptive control; Asymptotic stability; Control design; Elasticity; Equations; Gears; Manipulators; Robot control; Robot kinematics; Shafts;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.121619
Filename
121619
Link To Document