Title

Hybrid Adaptive-Control For Tracking Of Rigid-Link Flexible-Joint Robots

Keywords

Control Theory; Robotics; Engineering, Electrical & Electronic; Instruments & Instrumentation

Abstract

A hybrid adaptive tracking controller for rigid-link flexible-joint (RLFJ) robot manipulators is designed. The controller is hybrid in the sense that an adaptive indirect controller is used to compensate for parametric uncertainties in the rigid-link equation whereas an adaptive robust controller corrects for the dynamics (i.e. mechanical flexibilities) and parametric uncertainty associated with the actuators. That is, in spite of these detrimental uncertainties and effects, we are still able to ensure a global asymptotic stability (GAS) result for the link position tracking error.

Publication Title

Iee Proceedings-D Control Theory and Applications

Volume

140

Issue/Number

3

Publication Date

1-1-1993

Document Type

Article

Language

English

First Page

155

Last Page

159

WOS Identifier

WOS:A1993LW32200002

ISSN

0143-7054

Share

COinS