Referenced Items are not available for this document.
The problem of controlling robots with flexible joints is considered. After recalling the exact nonlinear model it is shown that the model is singularly perturbed if joints are nearly stiff. Singular perturbation techniques are used to add a stabilizing control signal to well established control laws obtained under the assumption of stiff joints.
Published in:
American Control Conference, 1985
Date of Conference: 19-21 June 1985
- Page(s):
- 69 - 70
- Conference Location :
- Boston, MA, USA
- Product Type:
- Conference Publications
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
