Title :
Adaptive control of flexible joint robots
Author :
Ge, S.S. ; Besant, C.B.
Author_Institution :
Imperial Coll., London Univ., UK
Abstract :
A sliding mode and an adaptive control method for flexible joint robots (FJRs) are presented. A relatively simple control method which is independent of joint elasticity is developed for a one-link FJR arm. Relatively simple control methods are then discussed for multiaxis FJRs. The parameter adaptation algorithm for adaptive control is based on slow-time variables. The robustness is provided by a sliding-mode mechanism
Keywords :
adaptive control; distributed parameter systems; large-scale systems; robots; stability; variable structure systems; adaptive control; flexible joint robots; multiaxis robots; one-link arm; parameter adaptation algorithm; robustness; sliding model control; slow-time variables; Acceleration; Adaptive control; Educational institutions; Elasticity; Electric variables control; Feedback; Manipulators; Robots; Robustness; Sliding mode control;
Conference_Titel :
Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on
Conference_Location :
Charlottesville, VA
Print_ISBN :
0-7803-0233-8
DOI :
10.1109/ICSMC.1991.169814
