ADAPTIVE-CONTROL OF ROBOT MANIPULATORS WITH FLEXIBLE JOINTS

被引：169
|
作者：
LOZANO, R [1 ]
BROGLIATO, B [1 ]
机构：
[1] INST NATL POLYTECH GRENOBLE,ECOLE NATL SUPER INGN ELECT GRENOBLE,CNRS,AUTOMAT GRENOBLE LAB,F-38402 ST MARTIN DHERES,FRANCE
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1992年 / 37卷 / 02期
关键词：
D O I：
10.1109/9.121619
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 an adaptive control scheme for flexible joint robot manipulators. Asymptotic stability is insured regardless of the joint flexibility value, i.e., the results are not restricted to weak joint elasticity. Moreover, the joint flexibility is not assumed to be a priori known. Joint position and velocity tracking errors are shown to converge to zero with all the signals in the system remaining bounded.
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页码：174 / 181
页数：8
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