An adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link. Yang, Y. P. and Gibson, J. S. Langley Research Center NASA-CR-181637, ICASE-88-17, NAS 1.26:181637, AD-A192763 NAS1-18107; AF-AFOSR-0309-84; AF-AFOSR-0373-87; RTOP 505-90-21-01...

An adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link. Keywords: Adaptive control, Robot, Flexible link.

This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.