DocumentCode
2107760
Title
A comparative study of speed and position control of a flexible joint robot manipulator
Author
De León-Morales, J. ; Alvarez-Leal, J.G.
Author_Institution
Univ. Autonoma de Nuevo Leon, San Nicolas de Los Garza, Mexico
Volume
1
fYear
1998
fDate
13-17 Oct 1998
Firstpage
679
Abstract
During the last few years, considerable research efforts have been directed toward the control problem of a flexible joint robots. In this paper we investigate two techniques for position and speed control of a single flexible joint robot manipulator. The connection between the two controllers are studied and compared using a flexible joint robot model
Keywords
flexible manipulators; position control; velocity control; flexible joint robot manipulator; position control; speed control; Algebra; Control systems; Manipulators; Nonlinear control systems; Nonlinear systems; Observers; Position control; Robot control; Sliding mode control; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-4465-0
Type
conf
DOI
10.1109/IROS.1998.724697
Filename
724697
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