DocumentCode
2339726
Title
Adaptive nonlinear control for manipulators with joint elasticity
Author
Yang, Jung Hua ; Fu, Li Chen
Author_Institution
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Volume
6
fYear
1995
fDate
21-23 Jun 1995
Firstpage
4305
Abstract
The problem of designing an adaptive control scheme for a flexible-joint manipulator is investigated and solved in this paper. A nonlinear model-based control scheme for the tracking of link variables is presented. Moreover, to circumvent the performance degradation due to parametric uncertainty, an adaptive control scheme is further proposed. In the developed control laws, only the position and velocity information of the actuators and links are utilized. Numerical simulations are also given to show the effectiveness of the proposed control laws
Keywords
adaptive control; control system synthesis; manipulators; nonlinear control systems; position control; velocity control; adaptive nonlinear control; flexible-joint manipulator; joint elasticity; nonlinear model-based control scheme; performance degradation; position information; tracking; velocity information; Acceleration; Actuators; Adaptive control; Control systems; Feedback; Linearization techniques; Programmable control; Robots; Stability; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.532747
Filename
532747
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