DocumentCode
1082129
Title
Tracking control of flexible joint robots with uncertain parameters and disturbances
Author
Tomei, Patrizio
Author_Institution
Dipartimento di Ingegneria Elettronica, Rome Univ., Italy
Volume
39
Issue
5
fYear
1994
fDate
5/1/1994 12:00:00 AM
Firstpage
1067
Lastpage
1072
Abstract
The tracking control problem is considered for robots having elastic joints. The kinematic and dynamic parameters of the robots are not assumed to be known but they are assumed to belong to a known bounded compact set. Moreover, unknown frictional forces are supposed to be present. A robust tracking controller is proposed capable of guaranteeing tracking with arbitrary accuracy of any given reference trajectory
Keywords
kinematics; stability; tracking; bounded compact set; disturbances; elastic joints; flexible joint robots; reference trajectory; robust tracking controller; tracking control; uncertain parameters; unknown frictional forces; Adaptive systems; Attenuation; Feedback; Friction; Kinematics; Manipulator dynamics; Robot control; Robust control; Time varying systems; Trajectory;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.284895
Filename
284895
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