Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition

@inproceedings{Zhu1997AdaptiveCO,
  title={Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition},
  author={Wen-Hong Zhu and Joris De Schutter},
  booktitle={ICRA},
  year={1997}
}
A modular approach named virtual decomposition is applied to adaptive control of robot manipulators with mixed rigid/flexible joints. First, the held object (payload) is decomposed from the manipulator. Then the manipulator is further decomposed into a series of rigid links and rigid/flexible joints. For each subsystem (rigid body or rigidlflexible joint), independent control design and parameter adaptation are performed, and a non-negative accompanying function is assigned. The dynamic… CONTINUE READING
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