ADAPTIVE-CONTROL FOR ROBOT MANIPULATORS WITH FLEXIBLE JOINTS

Authors
YANG JM HAYAKAWA Y OSHIMA K FUJII S
Citation
Jm. Yang et al., ADAPTIVE-CONTROL FOR ROBOT MANIPULATORS WITH FLEXIBLE JOINTS, JSME international journal. Series C, dynamics, control, robotics, design and manufacturing, 38(2), 1995, pp. 285-291
Citations number
15
Categorie Soggetti
Engineering, Mechanical
Journal title
JSME international journal. Series C, dynamics, control, robotics, design and manufacturing → ACNP
ISSN journal
13408062
Volume
38
Issue
2
Year of publication
1995
Pages
285 - 291
Database
ISI
SICI code
1340-8062(1995)38:2<285:AFRMWF>2.0.ZU;2-D
Abstract
This paper presents an adaptive control scheme for robot manipulators with flexible joints. Our control scheme theoretically guarantees that the tracking error converges to zero and that all the signals in the system remain bounded. We also analyze the robustness of the adaptive controller. To show the capability of the proposed controller, an exam ple of a one-link robot manipulator with one revolute flexible joint i s considered. The experimental results are given to demonstrate the ef fectiveness of this method.