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Title: Decentralised adaptive control of flexible joint robots
Authors: Ge, S.S. 
Allwright, J.C.
Besant, C.B.
Issue Date: 1994
Source: Ge, S.S.,Allwright, J.C.,Besant, C.B. (1994). Decentralised adaptive control of flexible joint robots. IEE Conference Publication 2 (389) : 1035-1039. ScholarBank@NUS Repository.
Abstract: Decentralised control has the advantages of requiring less computing resources than centralised control, and yields high speed operation, since the subsystem controllers are implemented in parallel. A decentralised adaptive control method for flexible joint robots is presented here by combining recent results on decentralised adaptive control for rigid body robots and singular perturbation theory. Neither acceleration nor jerk information are needed.
Source Title: IEE Conference Publication
ISSN: 05379989
Appears in Collections:Staff Publications

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