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

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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 languageEnglish
Pages882-886
Number of pages5
StatePublished - 1 Dec 1998
Externally publishedYes
EventProceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2) - Trieste, Italy
Duration: 1 Sep 19984 Sep 1998

Conference

ConferenceProceedings of the 1998 IEEE International Conference on Control Applications. Part 2 (of 2)
CityTrieste, Italy
Period1/09/984/09/98

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