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Title: Composite adaptive control of a robotic joint for passive deployment applications
Authors: Reedman, A.V.C.
Bouazza-Marouf, Kaddour
Keywords: Backlash cancellation
Composite adaptive control
Robotics
Issue Date: 2002
Publisher: Professional Engineering Publishing / © IMECHE
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.
Abstract: 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.
Description: 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
Version: Published
URI: https://dspace.lboro.ac.uk/2134/5147
ISSN: 0959-6518
Appears in Collections:Published Articles (Mechanical and Manufacturing Engineering)

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