OTHER
Adaptive control of flexible joint robots using position and velocity feedback
Fouad Mrad, Shaheen Ahmad
- Year
- 1992
- Citations
- 31
Abstract
An adaptive control law is described for a flexible joint robot which utilizes position and velocity feedback of the actuator and the joint. Energy motivated Lyapunov functions are used to derive the control law. Extensive simulations are given to show the effectiveness of this control law when applied to flexible joint robots with extremely compliant joints
Keywords
Control theory (sociology)RobotJoint (building)Position (finance)Lyapunov functionActuatorAdaptive controlControl engineeringFeedback controlControl (management)
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