Adaptive control of flexible manipulators carrying large uncertain payloads

  title={Adaptive control of flexible manipulators carrying large uncertain payloads},
  author={Christopher J. Damaren},
  journal={J. Field Robotics},
An adaptive controller is presented for a manipulator with revolute joints and structurally flexible links which carries a rigid payload with unknown mass properties. Under the assumption that the payload mass is much greater than that of the manipulator, globally stable tracking of the Cartesian end-effector coordinates is established. Key ideas underlying the controller development are the passivity of a mapping involving the end-effector rates as part of the output and a fixed parameter… CONTINUE READING
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