By Topic

Simulation of adaptive controller for flexible joint manipulators during constrained motion task execution

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

3 Author(s)
Han, Y. ; Dept. of Electr. & Comput. Eng., McMaster Univ., Hamilton, Ont., Canada ; Sinha, N.K. ; Elbestawi, A.

An adaptive control scheme for flexible joint manipulators constrained by contact with the environment is presented. Based on a singular perturbation model of constrained manipulators, an estimate of the range of μ in which stability is guaranteed is given. Simulation results for a two-link flexible joint manipulator demonstrate the effectiveness of the proposed control algorithm. The proposed method has the following attractive features. First, fundamental passivity properties of rigid robot dynamics are used to design the adaptive controller for flexible joint manipulators. Second, the implementation of the full controller requires only joint and link position and velocity information. Robustness to parametric uncertainty is achieved without the need for acceleration and jerk measurements. Finally, this control algorithm is uncomplicated for practical applications

Published in:

Circuits and Systems, 1991., Proceedings of the 34th Midwest Symposium on

Date of Conference:

14-17 May 1991