This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.


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    Titel :

    Intelligent Control of Flexible-Joint Robotic Manipulators


    Beteiligte:
    Colbaugh, R. (Autor:in) / Gallegos, G. (Autor:in)


    Erscheinungsdatum :

    01.02.1997


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch




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