Adaptive control of robot manipulators with flexible joints
- 1 January 1992
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 37 (2), 174-181
- https://doi.org/10.1109/9.121619
Abstract
-This paper presents an adaptive control scheme for flexible joint robot manipulators. Asymptotic stability is insured 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 a priori known. Joint position and velocity tracking errors are shown to converge to zero with all the signals in the system remaining bounded.Keywords
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