TRACKING CONTROL OF FLEXIBLE-JOINT ROBOTS WITH UNCERTAIN PARAMETERS AND DISTURBANCES

Authors
TOMEI P
Citation
P. Tomei, TRACKING CONTROL OF FLEXIBLE-JOINT ROBOTS WITH UNCERTAIN PARAMETERS AND DISTURBANCES, IEEE transactions on automatic control, 39(5), 1994, pp. 1067-1072
Citations number
12
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on automatic control → ACNP
ISSN journal
00189286
Volume
39
Issue
5
Year of publication
1994
Pages
1067 - 1072
Database
ISI
SICI code
0018-9286(1994)39:5<1067:TCOFRW>2.0.ZU;2-8
Abstract
The tracking control problem is considered for robots having elastic j oints. The kinematic and dynamic parameters of the robots are not assu med to be known but they are assumed to belong to a known bounded comp act set. Moreover, unknown frictional forces are supposed to be presen t. A robust tracking controller is proposed capable of guaranteeing tr acking with arbitrary accuracy of any given reference trajectory.