Obiekt
Tytuł: Adaptive and robust control of flexible joint robots in constrained motion
Współtwórca:
Podtytuł:
Recent Developments in Robotics
Tytuł publikacji grupowej:
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Identyfikator zasobu:
Strony:
Źródło:
AMCS, volume 7, number 2 (1997) ; kliknij tutaj, żeby przejść
Jezyk:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Repozytorium > Typy utworów > Artykuły
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS)
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1997)
Data ostatniej modyfikacji:
2021-09-02
Data dodania obiektu:
2020-11-18
Liczba wyświetleń treści obiektu:
59
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/repozytorium/publication/64494
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 2 (1997)
- Control of redundant robots under end-effector commands: A case study in underactuated systems
- Adaptive and robust control of flexible joint robots in constrained motion
- On the stability of nonlinear PD control
- An adaptive force/position control scheme for robot manipulators
- Controllability for mechanical systems with symmetries and constraints
- Time-optimal control of redundant manipulators
- Modelling and simulation of assembly processes with robots
- Parameter identification in robot control
- Singularity avoidance in redundant robot kinematics: A dynamical system approach
- Two-way recursive decomposition of the free-flying robot mass matrix
- Time-optimal trajectory planning in dynamic environments
- Motion generation in Cartesian space for industrial robots with actuator limitations
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 3 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 4 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Nazwa wydania | Data |
|---|---|
| Adaptive and robust control of flexible joint robots in constrained motion | 2021-09-02 |
