论文信息 - An approach to the adaptive control of elastic at joints robots

An approach to the adaptive control of elastic at joints robots

The problem of controlling robots with rotary and flexible joints is considered. An adaptive control strategy based on the measurement of the position of the links and of the speed of the actuator is proposed. The results, tested by simulation, are satisfactory and can be justified considering a linearized model for the robot.

Patrizio Tomei | Salvatore Nicosia | Antonio Ficola

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