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TECHNICAL PAPERS

Adaptive Computed Reference Computed Torque Control of Flexible Robots

[+] Author and Article Information
I. M. M. Lammerts, F. E. Veldpaus, M. J. G. Van de Molengraft, J. J. Kok

Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands

J. Dyn. Sys., Meas., Control 117(1), 31-36 (Mar 01, 1995) (6 pages) doi:10.1115/1.2798520 History: Received March 01, 1993; Revised November 01, 1993; Online December 03, 2007

Abstract

This paper presents a motion control technique for flexible robots and manipulators. It takes into account both joint and link flexibility and can be applied in adaptive form if robot parameters are unknown. It solves the main problems that are related to the fact that the number of degrees of freedom exceeds both the number of actuators and the number of output variables. The proposed method results in trajectory tracking while all state variables remain bounded. Global, asymptotic stability is ensured for all values of the stiffnesses of joints and links. To show the characteristics of the proposed control law, some simulation results are presented.

Copyright © 1995 by The American Society of Mechanical Engineers
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