Design of global tracking controllers for flexible‐joint robots
- 1 September 1993
- journal article
- research article
- Published by Wiley in Journal of Robotic Systems
- Vol. 10 (6) , 835-846
- https://doi.org/10.1002/rob.4620100604
Abstract
An approach to design control laws for trajectory tracking of robots having flexible joints is presented. An application to the adaptive control is also given with reference to a single‐link robot with one revolute elastic joint whose parameters are unknown.Keywords
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