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

doi:10.1115/1.2798520

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

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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 language	English
Pages (from-to)	31-36
Journal	Journal of Dynamic Systems, Measurement and Control : Transactions of the ASME
Volume	117
Issue number	1
DOIs	https://doi.org/10.1115/1.2798520
Publication status	Published - 1995

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title = "Adaptive computed reference computed torque control of flexible robots",

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.",

author = "I.M.M. Lammerts and F.E. Veldpaus and {Molengraft, van de}, M.J.G. and J.J. Kok",

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AU - Kok, J.J.

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AB - 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.

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Adaptive computed reference computed torque control of flexible robots

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