JOURNAL ARTICLE
Adaptive control of flexible joint robots
Abstract
A sliding mode and an adaptive control method for flexible joint robots (FJRs) are presented. A relatively simple control method which is independent of joint elasticity is developed for a one-link FJR arm. Relatively simple control methods are then discussed for multiaxis FJRs. The parameter adaptation algorithm for adaptive control is based on slow-time variables. The robustness is provided by a sliding-mode mechanism.< >
Keywords:
Robustness (evolution) Adaptive control Robot Computer science Control theory (sociology) Sliding mode control Joint (building) Elasticity (physics) Simple (philosophy) Control engineering Artificial intelligence Control (management) Engineering Biology
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1
Cited By
0.62
FWCI (Field Weighted Citation Impact)
13
Refs
0.74
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Topics
Dynamics and Control of Mechanical Systems
Physical Sciences → Engineering → Control and Systems Engineering
Iterative Learning Control Systems
Physical Sciences → Engineering → Control and Systems Engineering
Adaptive Control of Nonlinear Systems
Physical Sciences → Engineering → Control and Systems Engineering
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