MANIPULATION
Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator
Christian Ott, Alin Albu‐Schäffer, G. Hirzinger
- Year
- 2003
- Citations
- 51
Abstract
This paper addresses the adaptive tracking control of flexible joint manipulators based on the singular perturbation approach. Comparisons between adaptive and nonadaptive tracking controllers are given. Experimental results with the DLR's light weight robot are given for the 2-DOF case.
Keywords
Control theory (sociology)Adaptive controlTracking (education)Singular perturbationRobot manipulatorComputer sciencePerturbation (astronomy)RobotJoint (building)Manipulator (device)
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