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Article Dans Une Revue IEEE Transactions on Automatic Control Année : 1992

Adaptive Control of Robot Manipulators with Flexible Joints

Rogelio Lozano
Bernard Brogliato

Résumé

Presents an adaptive control scheme for flexible joint robot manipulators. Asymptotic stability is insured regardless of the joint flexibility value, i.e., the results are not restricted to weak joint elasticity. Moreover, the joint flexibility is not assumed to be known. Joint position and velocity tracking errors are shown to converge to zero with all the signals in the system remaining bounded.
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Dates et versions

hal-03592568 , version 1 (08-03-2022)

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Rogelio Lozano, Bernard Brogliato. Adaptive Control of Robot Manipulators with Flexible Joints. IEEE Transactions on Automatic Control, 1992, 37 (2), pp.174-181. ⟨10.1109/9.121619⟩. ⟨hal-03592568⟩
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