DESIGN OF GLOBAL TRACKING CONTROLLERS FOR FLEXIBLE-JOINT ROBOTS

Authors
NICOSIA S TOMEI P
Citation
S. Nicosia et P. Tomei, DESIGN OF GLOBAL TRACKING CONTROLLERS FOR FLEXIBLE-JOINT ROBOTS, Journal of robotic systems, 10(6), 1993, pp. 835-846
Citations number
18
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Application, Chemistry & Engineering","Computer Applications & Cybernetics
Journal title
Journal of robotic systems → ACNP
ISSN journal
07412223
Volume
10
Issue
6
Year of publication
1993
Pages
835 - 846
Database
ISI
SICI code
0741-2223(1993)10:6<835:DOGTCF>2.0.ZU;2-V
Abstract
An approach to design control laws for trajectory tracking of robots h aving flexible joints is presented. An application to the adaptive con trol is also given with reference to a single-link robot with one revo lute elastic joint whose parameters are unknown. (C) 1993 John Wiley & Sons, Inc.