Abstract
We present a tracking control scheme for robot manipulators with flexible joints. Only the information from motors is used for feedback. The concept of "desired fictional motor position" is introduced. The stability of a dynamic control system with the sliding observer is guaranteed by using Lyapunov stability theory. To illustrate the effect of the algorithm including the controller and the sliding observer, computer simulations have been carried out using a SCARA 2-DOF manipulator.
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Schedule a callMore From: JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
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