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Title:Robust control of flexible joint robot manipulators
Author(s):Hung, John York
Doctoral Committee Chair(s):Spong, Mark W.
Department / Program:Electrical and Computer Engineering
Discipline:Electrical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:Ph.D.
Genre:Dissertation
Subject(s):Engineering, Electronics and Electrical
Engineering, Industrial
Abstract:The problem of robot manipulator controller design in the presence of joint flexibility is addressed. The specific goal is to design a controller that yields good tracking performance in spite of parametric uncertainty. Feedback linearization, robust observers, singular perturbation technique, and adaptive control are different approaches that are theoretically analyzed. Experimental results on a single-link, flexible joint arm are also presented. Although each controller has its advantages and drawbacks, all of the design methods yield improved performance when compared to controller designs based upon rigid joint models.
Issue Date:1989
Type:Text
Language:English
URI:http://hdl.handle.net/2142/21411
Rights Information:Copyright 1989 Hung, John York
Date Available in IDEALS:2011-05-07
Identifier in Online Catalog:AAI8924846
OCLC Identifier:(UMI)AAI8924846


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