An approach for set-point regulation of electrically driven flexible-joint robots with uncertain parameters

被引：0

作者：

Ailon, A ^{[1
]}

机构：

[1] Kwangju Inst Sci & Technol, Dept Mechatron, Kwangju 506712, South Korea

来源：

PROCEEDINGS OF THE 1998 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2 | 1996年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study considers the set-point regulation control problem of a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator with model uncertainties and an unknown payload. The proposed control scheme follows from the contraction mapping theorem. The resulting controller is essentially based on a simple linear controller.

引用

页码：882 / 886

页数：5