2026-09-20T03:31:08Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/21411 2023-07-10 col_2142_5131 col_2142_8888 com_2142_5130 com_2142_8887 com_2142_234

U of I Only AAI8924846 (UMI)AAI8924846 http://hdl.handle.net/2142/21411 eng Spong, Mark W. Hung, John York 2011-05-07T13:07:53Z 2011-05-07T13:07:53Z 10000-01-01 1989 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. Made available in DSpace on 2011-05-07T13:07:53Z (GMT). No. of bitstreams: 2 license.txt: 4922 bytes, checksum: 910b249b4beec47e7ab768910c8f966f (MD5) 8924846.pdf: 3649375 bytes, checksum: ee304ba9a34fb7f5d73f09ee6fe91d6b (MD5) Previous issue date: 1989 Item marked as restricted to the 'UIUC Users [automated]' Group (id=2) by Howard Ding (hding2@illinois.edu) on 2011-05-07T14:50:36Z Item is restricted indefinitely. Restriction data tranferred 2014-07-01T11:23:08-05:00 Original Data Group with Access UIUC Users [automated] Release Date: none Reason: ETDs are only available to UIUC Users without author permission ETDs are only available to UIUC Users without author permission Copyright 1989 Hung, John York Engineering, Electronics and Electrical Engineering, Industrial Robust control of flexible joint robot manipulators text Electrical and Computer Engineering Electrical Engineering University of Illinois at Urbana-Champaign Dissertation Ph.D.