论文信息 - On the adaptive control of flexible joint robots

On the adaptive control of flexible joint robots

Abstract This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm currently being developed at Oxford University are included to show the validity of the control scheme.

Yau-Zen Chang | Ron W. Daniel | R. Daniel | Yau-Zen Chang

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