Please use this identifier to cite or link to this item:
https://doi.org/10.1016/0005-1098(96)85559-2
DC Field | Value | |
---|---|---|
dc.title | Adaptive controller design for flexible joint manipulators | |
dc.contributor.author | Ge, S.S. | |
dc.date.accessioned | 2014-10-07T02:55:51Z | |
dc.date.available | 2014-10-07T02:55:51Z | |
dc.date.issued | 1996-02 | |
dc.identifier.citation | Ge, S.S. (1996-02). Adaptive controller design for flexible joint manipulators. Automatica 32 (2) : 273-277. ScholarBank@NUS Repository. https://doi.org/10.1016/0005-1098(96)85559-2 | |
dc.identifier.issn | 00051098 | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/80286 | |
dc.description.abstract | A new adaptive controller for flexible joint robots is presented here based on singular perturbation theory and using only position and velocity feedback by modelling the 'motor tracking error' Kem as the fast variables instead of the joint elastic forces, where K represents the joint elasticity and em is the motor tracking error. The resulting boundary layer and quasi-steady-state systems are made exponentially stable: therefore the statements of Tychonov's theorem are valid for an infinite time interval. | |
dc.description.uri | http://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1016/0005-1098(96)85559-2 | |
dc.source | Scopus | |
dc.subject | Adaptive control | |
dc.subject | Flexible joint robots | |
dc.subject | Singular perturbations | |
dc.type | Article | |
dc.contributor.department | ELECTRICAL ENGINEERING | |
dc.description.doi | 10.1016/0005-1098(96)85559-2 | |
dc.description.sourcetitle | Automatica | |
dc.description.volume | 32 | |
dc.description.issue | 2 | |
dc.description.page | 273-277 | |
dc.description.coden | ATCAA | |
dc.identifier.isiut | A1996TT38300015 | |
Appears in Collections: | Staff Publications |
Show simple item record
Files in This Item:
There are no files associated with this item.
SCOPUSTM
Citations
69
checked on May 20, 2022
WEB OF SCIENCETM
Citations
57
checked on May 20, 2022
Page view(s)
121
checked on May 12, 2022
Google ScholarTM
Check
Altmetric
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.