Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models
type: Item
instance of: scholarly article
title: Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models
zbMATH Open document ID: 0867.93058
DOI: 10.1016/0005-1098(96)00087-8
published in: Automatica
publication date: 1997-07-16T00:00:00Z
review text: The set-point regulation problem of a flexible-joint robot with unknown parameters (a set of possible values of these uncertainties is known) using only position measurements is investigated. The proposed iterative procedures guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. It has been shown that in the rigid robot case, the rate of convergence in each iteration can be made arbitrarily fast. In the case of the flexible-joint robot, the rate of convergence can be tuned by the user in some well-defined range, but can't be made arbitrarily high. The proposed algorithms are based on the global contraction mapping theorem.
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 987782
zbMATH Keywords: set-point regulation problem
zbMATH Keywords: flexible-joint robot
zbMATH Keywords: position measurement
zbMATH Keywords: iterative procedures
zbMATH Keywords: global contraction mapping
author: Amit Ailon
reviewed by: Yu. V. Krak
MaRDI profile type: Publication
full work available at URL: 0005-1098(96)00087-8
OpenAlex ID: W2050229045
cites work: An observer-based set-point controller for robot manipulators with flexible joints
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cites work: Q3141919
description: scientific article; zbMATH DE number 987782