ADAPTIVE-CONTROL OF FLEXIBLE-JOINT MANIPULATORS - COMMENTS ON 2 PAPERS

Authors
SPONG MW
Citation
Mw. Spong, ADAPTIVE-CONTROL OF FLEXIBLE-JOINT MANIPULATORS - COMMENTS ON 2 PAPERS, Automatica, 31(4), 1995, pp. 585-590
Citations number
19
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
Automatica → ACNP
ISSN journal
00051098
Volume
31
Issue
4
Year of publication
1995
Pages
585 - 590
Database
ISI
SICI code
0005-1098(1995)31:4<585:AOFM-C>2.0.ZU;2-A
Abstract
We discuss two papers [Spong, M. W. (1989) Syst. Central. Lett., 13, 1 5-21; Chang, Y.-Z. and R. W. Daniel (1992) Automatica, 28, 969-974] on the adaptive control of flexible joint robot manipulators. Our goal i s to clarify the contributions of the two papers by correcting some te chnical errors and to provide some additional insight into the applica tion of singular perturbation methods for the control of flexible join t robots.