Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.mechatronics.2005.10.002
Title: Position/force control of uncertain constrained flexible joint robots
Authors: Huang, L.
Ge, S.S. 
Lee, T.H. 
Keywords: Constrained robots
Flexible joint robots
Position/force control
Issue Date: Mar-2006
Source: Huang, L., Ge, S.S., Lee, T.H. (2006-03). Position/force control of uncertain constrained flexible joint robots. Mechatronics 16 (2) : 111-120. ScholarBank@NUS Repository. https://doi.org/10.1016/j.mechatronics.2005.10.002
Abstract: This paper addresses the issue of adaptive position/force control of uncertain constrained flexible joint robots (FJRs). The controller is developed without the assumptions of weak robot joint flexibility as adopted in popular singular perturbation (SP) approaches. It relies on the feedback of joint state variables and avoids noisy joint torque measurements found in most controllers developed so far. In addition to the robot inertia parameters, the joint stiffness and the motor inertia are also assumed to be unknown. The proposed approach achieves the position tracking and the boundedness of force errors. The simulation study is conducted to verify the effectiveness of the approach. © 2005 Elsevier Ltd. All rights reserved.
Source Title: Mechatronics
URI: http://scholarbank.nus.edu.sg/handle/10635/57095
ISSN: 09574158
DOI: 10.1016/j.mechatronics.2005.10.002
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