On the adaptive control of flexible joint robots

Yau Zen Chang; Ron W. Daniel

doi:10.1016/0005-1098(92)90149-A

On the adaptive control of flexible joint robots

Yau Zen Chang^*
, Ron W. Daniel

^*Corresponding author for this work

University of Oxford

Research output: Contribution to journal › Journal Article › peer-review

39 Scopus citations

Abstract

This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm currently being developed at Oxford University are included to show the validity of the control scheme.

Original language	English
Pages (from-to)	969-974
Number of pages	6
Journal	Automatica
Volume	28
Issue number	5
DOIs	https://doi.org/10.1016/0005-1098(92)90149-A
State	Published - 09 1992
Externally published	Yes

Keywords

Singular perturbations
adaptive control
adaptive systems
robots
stabilizers
vibration control

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10.1016/0005-1098(92)90149-A

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title = "On the adaptive control of flexible joint robots",

abstract = "This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm currently being developed at Oxford University are included to show the validity of the control scheme.",

keywords = "Singular perturbations, adaptive control, adaptive systems, robots, stabilizers, vibration control",

author = "Chang, \{Yau Zen\} and Daniel, \{Ron W.\}",

year = "1992",

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N2 - This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm currently being developed at Oxford University are included to show the validity of the control scheme.

AB - This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm currently being developed at Oxford University are included to show the validity of the control scheme.

KW - Singular perturbations

KW - adaptive control

KW - adaptive systems

KW - robots

KW - stabilizers

KW - vibration control

UR - https://www.scopus.com/pages/publications/0026922919

U2 - 10.1016/0005-1098(92)90149-A

DO - 10.1016/0005-1098(92)90149-A

M3 - 文章

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SN - 0005-1098

VL - 28

SP - 969

EP - 974

JO - Automatica

JF - Automatica

IS - 5

ER -

On the adaptive control of flexible joint robots

Abstract

Keywords

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