scientific article; zbMATH DE number 1790565

MaRDI QIDQ4549671zbMATH OpenFDO

Authors S. N. Desypris, D. L. Kostis, Spyros G. Tzafestas

Publication date 7 January 2003

zbMATH Keywords

adaptive controlsingular perturbationflexible joint robotsposition and velocity tracking

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Adaptive control/observation systems (93C40) Time-scale analysis and singular perturbations in control/observation systems (93C70) Automated systems (robots, etc.) in control theory (93C85)

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(9)

• Asymptotically stable set point control laws for flexible robots
• Two-time scale fuzzy logic controller of flexible link robot arm
• Trajectory control and vibration suppression of rigid-flexible parallel robot based on singular perturbation method
• Singular perturbation model of robots with elastic joints and elastic links constrained by rigid environment
• Singular perturbation approach to RBNN adaptive control of unknown flexible joint manipulators
• Time scale separation in control of a single-link flexible-joint robot manipulator
• Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity
• Singular perturbation analysis of a flexible beam used in underwater exploration
• Control of a flexible joint robot manipulator via a non-linear control-observer scheme

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