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Composite adaptive control of a robotic joint for passive deployment applications

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journal contribution
posted on 2009-08-14, 10:02 authored by Adam V.C. Reedman, Kaddour Bouazza-Marouf
A composite adaptive control scheme for the control of an actively constrained revolute joint with backlash cancellation is presented in this paper. The drive mechanism consists of two motor-driven worms coupled to a single worm wheel. The mathematical model and control strategies are reviewed. This is followed by the derivation of the composite adaptive controllers. Simulation and experimental results show that the composite adaptive control scheme gives an equivalent performance to a computed-torque algorithm without compromising the mechanism's ability to cancel backlash.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Citation

REEDMAN, A.V.C. and BOUAZZA-MAROUF, K., 2002. Composite adaptive control of a robotic joint for passive deployment applications. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 216(3), pp. 275-289.

Publisher

Professional Engineering Publishing / © IMECHE

Version

  • VoR (Version of Record)

Publication date

2002

Notes

This is an article from the journal, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering [© IMechE ]. It is also available at: http://journals.pepublishing.com/content/119778

ISSN

0959-6518

Language

  • en

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