Adaptive tracking error controller for rigid-link flexible-joint robot manipulators

摘要

This paper presents an adaptive control scheme for flexible joint robot manipulators. The asymptotic stability of the control law is insured using Lyapunov Theory. The feedback to the control law is the measurement of the joint torques and thelink positions and velocities. The characteristics of both flexible and rigid subsystems are assumed unknown. An adaptive control law estimates the values of the unknown parameters. The performance of the proposed control method is tested using asimulated planar robot with two rotational degrees of freedom.