IEEE - Institute of Electrical and Electronics Engineers, Inc. - Variable structure adaptive cascade control of multi-link robot manipulators with flexible joints: the case of arbitrary uncertain flexibilities

Proceedings of 1993 IEEE International Conference on Robotics and Automation

Author(s): Hsu, L. ; Guenther, R.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Atlanta, GA, USA
Conference Date: 2 May 1993
ISBN (Paper): 0-8186-3450-2
DOI: 10.1109/ROBOT.1993.292168
Regular:

The design of adaptive tracking control of flexible joint manipulators in the general n-link case with arbitrary (possibly large) uncertain flexibility is addressed. Two strategies based on... View More

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