Title

Robust Control Of Rigid-Link Flexible-Joint Robots With Redundant Joint Actuators

Abstract

In this paper, we present an approach for designing robust tracking controllers for rigid-link flexible-joint (RLFJ) robot manipulators with redundant actuators in the joints. With the proposed controller, we prove that the link tracking error is globally uniformly ultimately bounded (GUUB) in spite of additive bounded disturbances, parametric uncertainty, and other modeling uncertainty. We also illustrate how the load at each joint is shared by two actuators. Finally simulation results are presented to illustrate the effectiveness of the proposed controller. © 1994 IEEE

Publication Date

1-1-1994

Publication Title

IEEE Transactions on Systems, Man and Cybernetics

Volume

24

Issue

7

Number of Pages

961-970

Document Type

Article

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/21.297786

Socpus ID

0028464134 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0028464134

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