Title :
Tracking control of flexible joint robots with uncertain parameters and disturbances
Author_Institution :
Dipartimento di Ingegneria Elettronica, Rome Univ., Italy
fDate :
5/1/1994 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
