Robust adaptive control of manipulators with application to joint flexibility
This thesis discusses the model-based adaptive trajectory control of commercial manipulators whose dynamics are well known with uncertainties confined to parameters. This thesis emphasizes the importance of the transient behavior as well as robust stability of a system and takes it into account i...
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| Format: | Others |
| Language: | en |
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1992
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| Online Access: | https://thesis.library.caltech.edu/3035/1/Lee_hh_1992.pdf Lee, Ho-Hoon (1992) Robust adaptive control of manipulators with application to joint flexibility. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/ks5z-8e20. https://resolver.caltech.edu/CaltechETD:etd-08072007-073507 <https://resolver.caltech.edu/CaltechETD:etd-08072007-073507> |