Abstract
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.
Original language | English |
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Article number | 157 |
Pages (from-to) | 2018-2024 |
Number of pages | 7 |
Journal | IEEE International Conference on Intelligent Robots and Systems |
Volume | 2 |
DOIs | |
State | Published - Oct 2002 |
Externally published | Yes |