Adaptive control of flexible manipulators carrying large uncertain payloads

@article{Damaren1996AdaptiveCO,
  title={Adaptive control of flexible manipulators carrying large uncertain payloads},
  author={Christopher J. Damaren},
  journal={J. Field Robotics},
  year={1996},
  volume={13},
  pages={219-228}
}
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
Highly Cited
This paper has 20 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 13 extracted citations

References

Publications referenced by this paper.
Showing 1-10 of 19 references

Dynamics of elastic multibody chains: Part A-body motion equations,

  • G. B. Sincarsin, P. C. Hughes
  • “Passive Control of a Single Flexible Link,” Proc
  • 1996

Adaptive control of robot manipulators with flexible joints

  • B. Brogliato
  • I E E E Trans . Autom . Control
  • 1992

A family of asymptotically stable control laws for flexible robots based on a passivity approach

  • J. Wen
  • 1991

Dynamics of elastic multibody chains : Part Bglobal dynamics

  • G. B. Sincarsin
  • Dyn . Stab . Syst .
  • 1990

Similar Papers

Loading similar papers…