Adaptive control of flexible-joint manipulators

被引：100

作者：

Ghorbel, Fathi ^{[1
]}

Hung, John Y. ^{[1
]}

Spong, Mark W. ^{[1
]}

机构：

[1] Univ of Illinois, Coord Sci Lab,, Urbana, IL, USA

来源：

IEEE Control Systems Magazine | 1989年 / 9卷 / 07期

基金：

美国国家科学基金会;

关键词：

Control Systems; Adaptive; -; Dynamics;

D O I：

10.1109/37.41450

中图分类号：

学科分类号：

摘要：

Under the assumption of weak joint elasticity, a singular perturbation argument is used to show that recent adaptive control results for rigid robots can be used to control flexible-joint robots provided a simple correction term is added to the control law to damp out the elastic oscillations at the joints. In this way, fundamental properties of rigid robot dynamics can be exploited to design adaptive control laws for flexible-joint robots that are robust to parametric uncertainty. Experimental results are give to illustrate the theory.

引用

页码：9 / 13