| contributor author | I. M. M. Lammerts | |
| contributor author | F. E. Veldpaus | |
| contributor author | M. J. G. Van de Molengraft | |
| contributor author | J. J. Kok | |
| date accessioned | 2017-05-08T23:46:51Z | |
| date available | 2017-05-08T23:46:51Z | |
| date copyright | March, 1995 | |
| date issued | 1995 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26213#31_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/115115 | |
| description 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 of joints and links. To show the characteristics of the proposed control law, some simulation results are presented. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Adaptive Computed Reference Computed Torque Control of Flexible Robots | |
| type | Journal Paper | |
| journal volume | 117 | |
| journal issue | 1 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2798520 | |
| journal fristpage | 31 | |
| journal lastpage | 36 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1995:;volume( 117 ):;issue: 001 | |
| contenttype | Fulltext | |