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An approach to the adaptive control of elastic at joints robots

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3 Author(s)
P. Tomei ; Seconda Università di Roma, Roma, Italy ; S. Nicosia ; A. Ficola

The problem of controlling robots with rotary and flexible joints is considered. An adaptive control strategy based on the measurement of the position of the links and of the speed of the actuator is proposed. The results, tested by simulation, are satisfactory and can be justified considering a linearized model for the robot.

Published in:

Robotics and Automation. Proceedings. 1986 IEEE International Conference on  (Volume:3 )

Date of Conference:

Apr 1986