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
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;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724697
