期刊
AUTOMATICA
卷 49, 期 5, 页码 1137-1147出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2013.01.042
关键词
Flexible joint robots; Variable stiffness; Position tracking; Prescribed performance
资金
- EU-ESF
- Greek national funds through the operational program Education and Lifelong Learning of the National Strategic Reference Framework (NSRF)-Research Funding Program ARISTEIA I
In this paper, we consider the design of tracking controllers for flexible joint robots with unknown and possibly variable elasticity, achieving pre-set performance attributes on the link position error. The developed full state feedback controller, is realized without incorporating knowledge relative to the actual system nonlinearities. Furthermore, no approximators are employed to acquire such information. Comparative simulation results on a 2-d.o.f. flexible joint manipulator, illustrate the efficiency of the approach. (C) 2013 Elsevier Ltd. All rights reserved.
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