OUTPUT CONTROLLERS BASED ON ITERATIVE SCHEMES FOR SET-POINT REGULATION OF UNCERTAIN FLEXIBLE-JOINT ROBOT MODELS

摘要

This paper considers the set-point regulation problem of a flexible-joint robot with unknown parameters where only position measurements are available. The proposed iterative schemes guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point, An essential tool in the present approach is the contraction mapping theorem. Copyright (C) 1996 Elsevier Science Ltd. [References: 11]