Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/69214
Title: Adaptive position/force control of an uncertain constrained flexible joint robots - Singular perturbation approach
Authors: Huang, L.
Ge, S.S. 
Lee, T.H. 
Keywords: Constrained Robots
Flexible Joint Robots
Position/Force Control
Issue Date: 2004
Source: Huang, L.,Ge, S.S.,Lee, T.H. (2004). Adaptive position/force control of an uncertain constrained flexible joint robots - Singular perturbation approach. Proceedings of the SICE Annual Conference : 1693-1698. ScholarBank@NUS Repository.
Abstract: This paper addresses the issue of adaptive position/force control of an uncertain constrained flexible joint robots based on singular perturbation approach, in which the fast variables and the slow variables are defined by combing the force and position signals. It relies on the feedback of joint state variables and avoids noisy joint torque feedbacks. The proposed approach achieves the position tracking and the boundedness of force errors for the constrained robot with weak joint flexibility.
Source Title: Proceedings of the SICE Annual Conference
URI: http://scholarbank.nus.edu.sg/handle/10635/69214
Appears in Collections:Staff Publications

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