Adaptive computed reference computed torque control of flexible robots

I.M.M. Lammerts, F.E. Veldpaus, M.J.G. Molengraft, van de, J.J. Kok

Research output: Contribution to journalArticleAcademicpeer-review

17 Citations (Scopus)
96 Downloads (Pure)

Abstract

This paper presents a motion control technique for flexible robots and manipulators. It takes into account both joint and link flexibility and can be applied in adaptive form if robot parameters are unknown. It solves the main problems that are related to the fact that the number of degrees of freedom exceeds both the number of actuators and the number of output variables. The proposed method results in trajectory tracking while all state variables remain bounded. Global, asymptotic stability is ensured for all values of the stiffnesses ofjoints and links. To show the characteristics of the proposed control law, some simulation results are presented.
Original languageEnglish
Pages (from-to)31-36
JournalJournal of Dynamic Systems, Measurement and Control : Transactions of the ASME
Volume117
Issue number1
DOIs
Publication statusPublished - 1995

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