An application of Model Reference Adaptive Control (MRAC) to the position and force control of flexible manipulators and robots is presented. A single-link flexible manipulator is analyzed. The problem was to develop a mathematical model of a flexible robot that is accurate. The objective is to show that the adaptive control works better than 'conventional' systems and is suitable for flexible structure control.


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    Title :

    Dynamics modeling and adaptive control of flexible manipulators


    Contributors:


    Publication date :

    1991-03-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English


    Keywords :


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