Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator

Christian Ott, Alin Albu-Schöffer, Gerd Hirzinger

Research output: Contribution to journalArticlepeer-review

46 Scopus citations

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 languageEnglish
Article number157
Pages (from-to)2018-2024
Number of pages7
JournalIEEE International Conference on Intelligent Robots and Systems
Volume2
DOIs
StatePublished - Oct 2002
Externally publishedYes

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