OUTPUT CONTROLLERS BASED ON ITERATIVE SCHEMES FOR SET-POINT REGULATION OF UNCERTAIN FLEXIBLE-JOINT ROBOT MODELS

Authors
AILON A
Citation
A. Ailon, OUTPUT CONTROLLERS BASED ON ITERATIVE SCHEMES FOR SET-POINT REGULATION OF UNCERTAIN FLEXIBLE-JOINT ROBOT MODELS, Automatica, 32(10), 1996, pp. 1455-1461
Citations number
11
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
Automatica → ACNP
ISSN journal
00051098
Volume
32
Issue
10
Year of publication
1996
Pages
1455 - 1461
Database
ISI
SICI code
0005-1098(1996)32:10<1455:OCBOIS>2.0.ZU;2-4
Abstract
This paper considers the set-point regulation problem of a flexible-jo int robot with unknown parameters where only position measurements are available. The proposed iterative schemes guarantee that every system response converges to an arbitrarily small neighborhood of the equili brium point, An essential tool in the present approach is the contract ion mapping theorem. Copyright (C) 1996 Elsevier Science Ltd.