Experimental evaluation of a cascade control technique with friction compensation for a flexible joint robot
This paper focuses on the experimental results of the position tracking control of a flexible joint robot manipulator. The applied control strategy is based on a well know cascade control methodology that divides the robot model into two subsystems: a link and a rotor subsystem. Thanks to this divis...
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| Other Authors: | , , |
| Format: | article |
| Language: | eng |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592009000400004 |
| Country: | Brazil |
| Oai: | oai:scielo:S0103-17592009000400004 |