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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    Title :

    Intelligent Control of Flexible-Joint Robotic Manipulators


    Contributors:
    Colbaugh, R. (author) / Gallegos, G. (author)


    Publication date :

    1997-02-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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