ON THE ADAPTIVE-CONTROL OF FLEXIBLE JOINT ROBOTS

被引：25

作者：

CHANG, YZ

DANIEL, RW

机构：

[1] Robotics Research Group, Department of Engineering Science, University of Oxford, Oxford

来源：

AUTOMATICA | 1992年 / 28卷 / 05期

关键词：

SINGULAR PERTURBATIONS; STABILIZERS; VIBRATION CONTROL; ROBOTS; ADAPTIVE CONTROL; ADAPTIVE SYSTEMS;

D O I：

10.1016/0005-1098(92)90149-A

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm currently being developed at Oxford University are included to show the validity of the control scheme.

引用

页码：969 / 974

页数：6

共 13 条

[1]

CHOW JH, 1978, IEEE T AUTOMAT CONTR, V3, P438

[2]

DANIEL RW, 1987, 4TH INT S ROB RES SA

[3] PROPERTIES OF SOLUTIONS OF ORDINARY DIFFERENTIAL EQUATIONS WITH SMALL PARAMETERS [J].