| contributor author | Yu, J. W. | |
| contributor author | Zhang, X. H. | |
| contributor author | Ji, J. C. | |
| contributor author | Tian, J. Y. | |
| contributor author | Zhou, J. | |
| date accessioned | 2022-02-04T21:56:06Z | |
| date available | 2022-02-04T21:56:06Z | |
| date copyright | 7/23/2020 12:00:00 AM | |
| date issued | 2020 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_142_11_114505.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4274559 | |
| description abstract | This paper addresses the region-reaching control problem for a flexible-joint robotic manipulator which is formulated by Lagrangian dynamics. An adaptive control scheme is proposed for the manipulator system having two constrained regions which are constructed by selecting appropriate objective functions. The two joints of the flexible-joint manipulator can be, respectively, confined in different regions, and this gives more flexibility than the traditional fixed-point tracking control. By performing a straightforward Lyapunov stability analysis, a simple control algorithm is established to provide a solution for the region-reaching control problem. Finally, numerical simulations are given to validate the theoretical results. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Region-Reaching Control of a Flexible-Joint Manipulator | |
| type | Journal Paper | |
| journal volume | 142 | |
| journal issue | 11 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4047697 | |
| journal fristpage | 0114503-1 | |
| journal lastpage | 0114503-10 | |
| page | 10 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2020:;volume( 142 ):;issue: 011 | |
| contenttype | Fulltext | |