TY - GEN
T1 - A simple adaptive control of electrically driven flexible-joint robots using function approximation techniques
AU - Park, Jin Bae
PY - 2008
Y1 - 2008
N2 - In this paper, we propose a simple adaptive control approach for uncertain flexible-joint robots including motor dynamics. The dynamic surface method is applied to design the simple controller for electrically driven flexible-joint (EDFJ) robots, and the uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. We prove that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.
AB - In this paper, we propose a simple adaptive control approach for uncertain flexible-joint robots including motor dynamics. The dynamic surface method is applied to design the simple controller for electrically driven flexible-joint (EDFJ) robots, and the uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. We prove that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.
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M3 - Conference contribution
AN - SCOPUS:78449262540
SN - 9784990288020
T3 - Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
SP - 29
EP - 34
BT - Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
T2 - 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
Y2 - 31 January 2008 through 2 February 2008
ER -