Approach for set-point regulation of electrically driven flexible-joint robots with uncertain parameters

Amit Ailon

Approach for set-point regulation of electrically driven flexible-joint robots with uncertain parameters

Amit Ailon

Research output: Contribution to conference › Paper › peer-review

6 Scopus citations

Abstract

This study considers the set-point regulation control problem of a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator with model uncertainties and an unknown payload. The proposed control scheme follows from the contraction mapping theorem. The resulting controller is essentially based on a simple linear controller.

Original language	English
Pages	882-886
Number of pages	5
State	Published - 1 Dec 1998
Externally published	Yes
Event	Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2) - Trieste, Italy Duration: 1 Sep 1998 → 4 Sep 1998

Conference

Conference	Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2)
City	Trieste, Italy
Period	1/09/98 → 4/09/98

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

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title = "Approach for set-point regulation of electrically driven flexible-joint robots with uncertain parameters",

abstract = "This study considers the set-point regulation control problem of a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator with model uncertainties and an unknown payload. The proposed control scheme follows from the contraction mapping theorem. The resulting controller is essentially based on a simple linear controller.",

author = "Amit Ailon",

year = "1998",

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language = "English",

pages = "882--886",

note = "Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2) ; Conference date: 01-09-1998 Through 04-09-1998",

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AU - Ailon, Amit

PY - 1998/12/1

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AB - This study considers the set-point regulation control problem of a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator with model uncertainties and an unknown payload. The proposed control scheme follows from the contraction mapping theorem. The resulting controller is essentially based on a simple linear controller.

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M3 - Paper

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SP - 882

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T2 - Proceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2)

Y2 - 1 September 1998 through 4 September 1998

ER -

Approach for set-point regulation of electrically driven flexible-joint robots with uncertain parameters

Abstract

Conference

ASJC Scopus subject areas

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Cite this