Control experiments for a flexible-joint robot arm
This 1989 video is about an experimental single-link arm with an elastic joint moving under gravity, which was developed at the Coordinated Science Lab of the University of Illinois at Urbana. The video illustrates some of the control techniques that are mentioned in the first part of Chap. 11: e.g., computed torque using the rigid model (unstable), feedback linearizing control including elasticity (perfect design), and corrective control based on singular perturbation analysis (and its adaptive version). Reference: F. Ghorbel, J.Y. Hung, M.W. Spong: Adaptive control of flexible joint robots, IEEE Control Syst. Mag. 9(7), 9-13 (1989) doi: 10.1109/37.41450
Mark Spong
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With the courtesy of Fathi Ghorbel, Rice University, USA (ghorbel@rice.edu) and John Y. Hung, Auburn University, USA (hungjoh@auburn.edu).
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