Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: Adaptive and robust control of flexible joint robots in constrained motion
Contributor:
Subtitle:
Recent Developments in Robotics
Group publication title:
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) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- 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)
Last modified:
Jul 14, 2025
In our library since:
Nov 18, 2020
Number of object content hits:
117
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64494
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| Edition name | Date |
|---|---|
| Adaptive and robust control of flexible joint robots in constrained motion | Jul 14, 2025 |
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