A simple adaptive control of electrically driven flexible-joint robots using function approximation techniques

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a simple adaptive control approach for uncertain flexible-joint robots including motor dynamics. The dynamic surface method is applied to design the simple controller for electrically driven flexible-joint (EDFJ) robots, and the uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. We prove that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.

Original languageEnglish
Title of host publicationProceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
Pages29-34
Number of pages6
Publication statusPublished - 2008
Event13th International Symposium on Artificial Life and Robotics, AROB 13th'08 - Oita, Japan
Duration: 2008 Jan 312008 Feb 2

Publication series

NameProceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08

Other

Other13th International Symposium on Artificial Life and Robotics, AROB 13th'08
CountryJapan
CityOita
Period08/1/3108/2/2

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

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  • Cite this

    Park, J. B. (2008). A simple adaptive control of electrically driven flexible-joint robots using function approximation techniques. In Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08 (pp. 29-34). (Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08).