Journal ArticleDOI
A simple PD controller for robots with elastic joints
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TLDR
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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Underactuated Manipulators: Control Properties and Techniques
TL;DR: In this article, the authors consider planning and control problems for underactuated manipulators, a special instance of mechanical systems having fewer input commands than degrees of freedom, and propose solutions for the typical problems of trajectory planning, trajectory tracking, and set-point stabilization.
Proceedings ArticleDOI
Global regulation of flexible joint robots using approximate differentiation
TL;DR: In this paper, the velocity measurement in Tomei's scheme can be replaced by approximate differentiation preserving global asymptotic stability, and simulations that illustrate their result are presented. But the authors do not consider the effect of the velocity measurements on the PD regulator.
Journal ArticleDOI
Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models
TL;DR: This paper considers the set-point regulation problem of a flexible-joint robot with unknown parameters where only position measurements are available and proposes iterative schemes that guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point.
Journal ArticleDOI
Preshaping input trajectories of industrial robots for vibration suppression
Joonyoung Kim,Elizabeth A. Croft +1 more
TL;DR: Three different techniques, namely, the optimal S-curve trajectory, the robust zero-vibration shaper, and the dynamicZeroVibrationShaper are proposed, which can suppress multiple vibration modes of a flexible joint robot under a computed torque control based on a rigid model.
Journal ArticleDOI
Trajectory tracking of flexible joint manipulators actuated by DC-motors under random disturbances
Mingyue Cui,Zhaojing Wu +1 more
TL;DR: A random model is constructed for a class of flexible joint manipulators actuated by DC-motors such that the state of closed-loop system has an asymptotic gain in the 2nd moment and the mean square of tracking error converges to an arbitrarily small neighborhood of zero by tuning design parameters.
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.