Adaptive control for Robot Manipulators with Flexible Joints

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概要

• 論文の詳細を見る

• This paper presents an adaptive control scheme for robot manipulators with flexible joints. Our control scheme theoretically guarantees that the tracking error converges to zero and that all the signals in the system remain bounded. We also analyze the robustness of the adaptive controller. To show the capability of the proposed controller, an example of a one-link robot manipulator with one revolute flexible joint is considered. The experimental results are given to demonstrate the effectiveness of this method.

• 一般社団法人日本機械学会の論文
• 1995-06-15

著者

• Hayakawa Yoshikazu

  Faculty Of Engineering Nagoya University

• YANG Jianming

  School of Basic Medical Sciences,Shanghai Medical University

• Hayakawa Y

  Nara National Coll. Technol. Nara Jpn

• Yang Jianming

  School Of Basic Medical Sciences Shanghai Medical University

• Yang Jianming

  Faculty of Engineering, Nagoya University

• Fujii Seizo

  Faculty of Engineering, Nagoya University

• Oshima Kazuhiko

  Faculty of Engineering, Nagoya University

• Fujii Seizo

  Faculty Of Engineering Nagoya University

• Oshima K

  Daido Inst. Technol. Nagoya Jpn

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