Control of robot manipulators with joints flexibility View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

1991

AUTHORS

A. Benallegue , N. K. M'Sirdi

ABSTRACT

In this paper we consider two stage controllers for motion control of robot manipulators with joint flexibilities. The dynamic equations of a manipulator with flexible joints are reparametrized in a model, with two blocs, suitable for control laws design. A passivity based adaptive compensator is proposed to control the reduced complexity model (the first bloc) with Integral (I) adaptation algorithms. The second stage uses a computed torque with a robust stabilization loop. The stability and robustness properties of this control scheme are analysed and the performances of the controllers are evaluated in simulation study and compared to other schemes. The proposed scheme allows the use of the controllers proposed for rigid manipulators. More... »

PAGES

251-272

Book

TITLE

Advanced Robot Control

ISBN

3-540-54169-1

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/bfb0039276

DOI

http://dx.doi.org/10.1007/bfb0039276

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1032045208


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