Title :
Digital Adaptive Control of Robotic Manipulators with Flexible Joints
Author :
Kim, Seon M. ; Gibson, J.S.
Author_Institution :
Mechanical, Aerospace, and Nuclear Engineering, University of California, Los Angeles 90024
Abstract :
A discrete-time adaptive controller is introduced for robotic manipulators with flexible joints. Simulation results are given for a one-link example and a two-link example.
Keywords :
Adaptive control; Coordinate measuring machines; Differential equations; Manipulator dynamics; Motion control; Nonlinear equations; Q measurement; Robots; Sampling methods; Vectors;
Conference_Titel :
American Control Conference, 1991
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-87942-565-2
