An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements.

An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements. Research Abstract Details 

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An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements. Abstract Text:

S Y Lim,D M Dawson,J Hu,M S de Queiroz,

This paper presents an adaptive partial state feedback controller for rigid-link flexible-joint (RLFJ) robots. The controller compensates for parametric uncertainty throughout the entire mechanical system while only requiring measurement of link position and actuator position. To eliminate the need for measuring link velocity and actuator velocity a set of filters is utilized as a surrogate for the unmeasurable quantities. Based on this set of filters, an adaptive integrator backstepping procedure is used to develop a torque input controller which guarantees semiglobal asymptotic link position tracking while also ensuring that all signals remain bounded during closed-loop operation. Simulation results for a two-link RLFJ robot are utilized to validate the performance of the proposed controller.

An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements. Publishing Authors By Initials

SY Lim,DM Dawson,J Hu,MS de Queiroz,

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An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements. Journal Published:

PUBLICATION TYPE: Journal Article

Journal: IEEE transactions on systems, man, and cybernetics

VOLUME: 27

Page Numbers: 412-27

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ISSN: 1083-4419

DAY: 7

MONTH: 02

YEAR: 1997

An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements. Information

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LANGUAGE: eng

NlmUniqueID: 9890044

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Grant and Affiliation Information for An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements.

AFFILIATION: Inst. of Manuf. Technol., Nanyang Technol. Inst.

Country: United States

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MEDLINETA: IEEE Trans Syst Man Cybern B C

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