This study considers the set-point regulation problem of a flexible-joint robot with uncertain parameters and unknown gravity forces when only position measurements are available for the controller. An essential tool in the present approach is the contraction mapping theorem. An analytical solution to the underlying control problem is presented. Some practical issues associated with the implementation of the controller-observer are considered.
|Title of host publication||IFAC Proceedings Volumes|
|Number of pages||6|
|State||Published - 1995|
|Event||IFAC Conference on System Structure and Control 1995 - Nantes, France|
Duration: 5 Jul 1995 → …
|Conference||IFAC Conference on System Structure and Control 1995|
|Period||5/07/95 → …|