ADAPTIVE COMPUTED REFERENCE COMPUTED TORQUE CONTROL OF FLEXIBLE ROBOTS

被引：15

作者：

LAMMERTS, IMM

VELDPAUS, FE

VANDEMOLENGRAFT, MJG

KOK, JJ

机构：

[1] Department of Mechanical Engineering, Eindlioven University of Technoiogy, Eindhoven, 5600 MB

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1995年 / 117卷 / 01期

关键词：

D O I：

10.1115/1.2798520

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 motion control technique for flexible robots and manipulators. It takes into account both joint and link flexibility and can be applied in adaptive form if robot parameters are unknown. It solves the main problems that are related to the fact that the number of degrees of freedom exceeds both the number of actuators and the number of output variables. The proposed method results in trajectory tracking while all state variables remain bounded. Global, asymptotic stability is ensured for all values of the stiffnesses of joints and links. To show the characteristics of the proposed control law, some simulation results are presented.

引用

页码：31 / 36

页数：6