Adaptive control of flexible joint robots using position and velocity feedback
- 1 May 1992
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 55 (5) , 1255-1277
- https://doi.org/10.1080/00207179208934282
Abstract
An adaptive control law is described for a flexible joint robot which utilizes position and velocity feedback of the actuator and the joint. Energy motivated Lyapunov functions are used to derive the control law. Extensive simulations are given to show the effectiveness of this control law when applied to flexible joint robots with extremely compliant jointsKeywords
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