Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator
نویسندگان
چکیده
This paper addresses the adaptive tracking control of flexible joint manipulators based on a singular perturbation approach. Comparisons between adaptive and nonadaptive tracking controllers are given. Experimental results with the DLR’s light weight robot are given for the 2 DOF case.
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تاریخ انتشار 2002