A SURVEY ON THE CONTROL OF FLEXIBLE JOINT ROBOTS

A SURVEY ON THE CONTROL OF FLEXIBLE JOINT ROBOTS

ABSTRACT The robotics literature of the last two decades contains many important advances in the control of flexible joint robots. This is a survey of these advances and an assessment for future developments, concentrated mostly on the control issues of flexible joint robots.

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Bibliographic Details
Published in:Asian journal of control Vol. 8; no. 4; pp. 332 - 344
Main Authors: Ozgoli, S., Taghirad, H. D.
Format: Journal Article
Language:English
Published: Oxford, UK Blackwell Publishing Ltd 01-12-2006
Subjects:
flexible joint robot
modeling
Robot control
singular perturbation
survey paper
Online Access:Get full text
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Summary:ABSTRACT The robotics literature of the last two decades contains many important advances in the control of flexible joint robots. This is a survey of these advances and an assessment for future developments, concentrated mostly on the control issues of flexible joint robots.
Bibliography:ArticleID:ASJC332
ark:/67375/WNG-XG8KJ8HS-9
istex:E2B0365D052C117CB9464BEBE72ECBC3BAFD4D5F
Hamid D. Taghirad
Sadjaad Ozgoli
received his B.Sc. degree in mechanical engineering from Sharif University of Technology, Tehran, Iran, in 1989, his M.Eng in mechanical engineering in 1993, and his Ph.D. in electrical engineering in 1997, both from McGill University, Montreal, Canada. He is currently an Associate Professor with the Control Group at the Electrical Engineering Department, and the Director of the Advanced Robotics and Automated System (ARAS) research center at K.N. Toosi University of Technology, Tehran, Iran. His publications include two books, and more than 80 papers in international Journals and conference proceeding, and his research interests are robust and nonlinear control applied on the robotic systems.
received his B.Sc. and M.Eng degrees in electrical engineering from Sharif University of Technology, Tehran, Iran, respectively in 1997 and 1999. He received his Ph.D. from K.N. Toosi University of Technology, Tehran, Iran in electrical engineering with minors in mechanical engineering in 2005. He has published more than 15 papers in international journals and conference proceedings. He works on control systems applied on Mechatronics systems.
ISSN:1561-8625
1934-6093
DOI:10.1111/j.1934-6093.2006.tb00285.x