By Topic

Control of flexible joint robot system by backstepping design approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Oh, J.H. ; Dept. of Electr. Eng., Pohang Univ. of Sci. & Technol., South Korea ; Lee, J.S.

The control of flexible joint robot manipulators by backstepping design approach is presented. In contrast with the other controllers for flexible joint robot manipulators, the proposed controller neither assumes weak joint flexibility nor requires joint acceleration measurements. With the proposed controller, the link position and velocity errors converge to zero exponentially fast. The simulation results prove that the proposed controller performs superior to the other controllers as the flexibility increases in the joints

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997