Multi-Degree Freedom Compliant Robot Arm Control Using Adaptive Control

摘要：

In this paper a new pneumatically driven compliant robot arm with multi-degree freedom is designed for the applications in medical operation and assembly of precision machinery and instrumentation. The dynamic model is built and adaptive control theory is utilised for its tensile force control.

作者: Jun GU Yannian RUI Hui ZHU

作者单位: School of Mechanical & Electronic Engineering, Soochow University Suzhou, 215021, China

会议类型: 国际会议

会议名称: 第六届中国国际丝绸会议暨第二届国际纺织高层论坛(The 6th China International Silk Conference and The 2nd International Textile Forum)

会议地点: 苏州

会议语种:英文

页码: 215-217

在线出版日期: 2007-09-13（万方平台首次上网日期，不代表论文的发表时间）