Analysis of an adaptive controller for manipulators: robustness versus flexibility
作者： G. Campion , G. Bastin
DOI: 10.1016/0167-6911(89)90057-1
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摘要: Abstract The purpose of this paper is to analyse the robustness an adaptive computed torque control for robotic manipulators, against high-frequency modes arising from flexibility. We present a robot model taking into account flexibility transmission and we show that, sufficiently small values flexibility, algorithm guarantees boundedness closed-loop tracking error system.
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