Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2002-12-10 DOI:10.1109/IRDS.2002.1044052

C. Ott, A. Albu-Schäffer, G. Hirzinger

引用次数: 54

Abstract

This paper addresses the adaptive tracking control of flexible joint manipulators based on the singular perturbation approach. Comparisons between adaptive and nonadaptive tracking controllers are given. Experimental results with the DLR's light weight robot are given for the 2-DOF case.

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柔性关节机械臂自适应与非自适应跟踪控制律的比较

研究了基于奇异摄动方法的柔性关节机械臂自适应跟踪控制。对自适应和非自适应跟踪控制器进行了比较。给出了DLR轻量化机器人在二自由度情况下的实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

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