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Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/72552
DC FieldValue
dc.titleDecentralised adaptive control of flexible joint robots
dc.contributor.authorGe, S.S.
dc.contributor.authorAllwright, J.C.
dc.contributor.authorBesant, C.B.
dc.date.accessioned2014-06-19T05:09:20Z
dc.date.available2014-06-19T05:09:20Z
dc.date.issued1994
dc.identifier.citationGe, 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.
dc.identifier.issn05379989
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/72552
dc.description.abstractDecentralised 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.
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentELECTRICAL ENGINEERING
dc.description.sourcetitleIEE Conference Publication
dc.description.volume2
dc.description.issue389
dc.description.page1035-1039
dc.description.codenIECPB
dc.identifier.isiutNOT_IN_WOS
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