Journal ArticleDOI
A simple PD controller for robots with elastic joints
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In this paper, the point-to-point control of a manipulator with three revolute elastic joints is considered and it is shown that a simple PD controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position.Abstract:
The point-to-point control of manipulators having elastic joints is considered. It is shown that a simple PD (proportional plus derivative) controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position. A robustness analysis is also given with respect to uncertainties on the robot parameters. The results of numerical simulation tests of a manipulator with three revolute elastic joints are presented. >read more
Citations
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Proceedings ArticleDOI
Constrained fast point-to-point control of a visco-elastic actuator
TL;DR: In this paper, a point-to-point motion control of a visco-elastic servo is proposed to achieve both precision positioning and fast motion while satisfying various physical constraints.
DissertationDOI
Input command shaping using the versine function with peak acceleration constraint and numerical optimization to minimize residual vibration
TL;DR: In this paper, a numerical framework for constructing shaped inputs using a Versine basis function with peak acceleration constraint has been developed and improvements for the existing numerical framework to extend the range of values of the Ramped Sinusoid basis function and improve the computational time.
Book ChapterDOI
Control of a Series Elastic Actuator Based on Sigmoid-Proportional-Retarded (SPR) with Online Gravity Compensation
Feng Jiang,Jiexin Zhang,Bo Zhang +2 more
TL;DR: In this paper, a rotary series elastic actuator based on torsion spring is designed to reduce the residual vibration of the link and shorten the response time, and the stability of SPR control law is proved by the Lyapunov method.
Simple Pole Placement Controller for Elastic Joint Manipulator
Suid Mohd Helmi,Mohd Tumari Mohd Zaidi,Saealal Muhammad Salihin,Abdul Wahab Yasmin,Ghazali Mohd Riduwan +4 more
TL;DR: In this paper, the pole placement controller is designed based on integral state feedback structure and the feedback gain is computed based on the desired time response specifications of tip angular position, and the proposed control scheme is also compared with a hybrid Linear Quadratic Regulator (LQR) with input shaper control scheme.
Proceedings ArticleDOI
A simple linear stabilizing controller for RLED robot manipulators with uncertain models
TL;DR: A linear controller is presented which ensures local exponential stability of rigid-link electrically driven (RLED) robot manipulators and assumes that only bounds on the unknown parameters are available.
References
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Journal ArticleDOI
On the adaptive control of robot manipulators
Jean-Jacques E. Slotine,W. Li +1 more
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Journal ArticleDOI
Fast Nonlinear Control with Arbitrary Pole-Placement for Industrial Robots and Manipulators
TL;DR: In this paper, three nonlinear methods are presented, two of which are direct design procedures for industrial robots, based on a suitable partition of the dynamic equation of the industrial robot and provide directly applicable, explicit control laws for each drive.
Journal ArticleDOI
An integral manifold approach to the feedback control of flexible joint robots
TL;DR: The control problem for robot manipulators with flexible joints is considered and it is shown how to approximate the feedback linearizing control to any order in µ, an approximate feedback linearization which linearizes the system for all practical purposes.
Journal ArticleDOI
Dynamic Models for Control System Design of Integrated Robot and Drive Systems
TL;DR: In this article, the authors present analytical models and experimental data to show that interactions between electromechanical drives coupled with compliant linkages to arm link drive points are of fundamental importance to robot control system design.