Zielonogórska Biblioteka Cyfrowa udostępnia 65 391 obiektów cyfrowych
Obiekt
Tytuł: Adaptive and robust control of flexible joint robots in constrained motion
Contributor:
Subtitle:
Recent Developments in Robotics
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Abstract:
This paper addresses motion and force control issues of flexible joint robots in constrained motion. A two-stage control scheme, consisting of a constrained motion controller and a joint torque controller, is established in a systematic way for general n-link flexible joint robots. To deal with uncertainties in the parameters of the robotic system, adaptive and robust control algorithms are developed assuming that all system parameters, including the joint flexibility values, are unknown except for some of their bounds. ; The system stability is analyzed via the Lyapunov stability theory. 'It is shown that with the proposed control method, the closed-loop system is uniformly stable, and motion and force tracking errors are uniformly ultimately bounded. Simulation results illustrate the effectiveness of the proposed control method.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 7, number 2 (1997) ; kliknij tutaj, żeby przejść
Language:
License CC BY 4.0:
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Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1997)
Data ostatniej modyfikacji:
Jul 14, 2025
Data dodania obiektu:
Nov 18, 2020
Liczba wyświetleń treści obiektu:
130
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/publication/64494
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| Nazwa wydania | Data |
|---|---|
| Adaptive and robust control of flexible joint robots in constrained motion | Jul 14, 2025 |
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