CONTROL OF RIGID-LINK, FLEXIBLE-JOINT ROBOTS - A SURVEY OF BACKSTEPPING METHODS

被引：72
作者：
BRIDGES, MM
DAWSON, DM
ABDALLAH, CT
机构：
[1] CLEMSON UNIV,DEPT ELECT & COMP ENGN,CLEMSON,SC 29634
[2] UNIV NEW MEXICO,DEPT ELECT & COMP ENGN,ALBUQUERQUE,NM 87131
来源：
JOURNAL OF ROBOTIC SYSTEMS | 1995年 / 12卷 / 03期
关键词：
D O I：
10.1002/rob.4620120305
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The purpose of this article is to show how the design procedure commonly referred to as integrator backstepping can be used to design globally stable trajectory tracking controllers for Rigid-Link Flexible-Joint (RLFJ) robot manipulators. Three different types of controllers are developed: (1) an exact model knowledge-based controller, (2) an adaptive controller that compensates for parametric uncertainty, and (3) a robust controller that compensates for parametric uncertainty and unknown bounded disturbances. All three controllers are based on previously published work but are presented here in a unifying framework. (C) 1995 John Wiley & Sons, Inc.
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页码：199 / 216
页数：18
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