Decentralised adaptive control of flexible joint robots
Decentralised adaptive control of flexible joint robots
- Author(s):
- DOI: 10.1049/cp:19940277
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- Author(s): Source: International Conference on Control '94, 1994 p. 1035 – 1039
- Conference: International Conference on Control '94
- DOI: 10.1049/cp:19940277
- ISBN: 0 85296 610 5
- Location: Coventry, UK
- Conference date: 21-24 March 1994
- Format: PDF
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.
Inspec keywords: adaptive control; robots; dynamics; decentralised control
Subjects: Self-adjusting control systems; Multivariable control systems; Robotics
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