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
A recursive Newton-Euler algorithm for robots with elastic joints and its application to control
TL;DR: The solution algorithm is a generalized version of the standard Newton-Euler approach, running still with linear complexity O(N) but requiring to set up recursions that involve higher order derivatives of motion and force variables.
Journal ArticleDOI
Online near time-optimal trajectory planning for industrial robots
Joonyoung Kim,Elizabeth A. Croft +1 more
TL;DR: A novel trajectory planning approach suitable for online industrial robot applications along short path segments such as spot-welding that generates trajectories that are computationally efficient, dynamically near time-optimal, and maintain path-following integrity in high-frequency planning-and-control cycles.
Journal ArticleDOI
Design of global tracking controllers for flexible‐joint robots
Salvatore Nicosia,Patrizio Tomei +1 more
TL;DR: An approach to design control laws for trajectory tracking of robots having flexible joints is presented and an application to the adaptive control is given with reference to a single-link robot with one revolute elastic joint whose parameters are unknown.
Journal Article
Global asymptotic stability of robot manipulators with linear PID and PI2D control
TL;DR: In this article, a linear PID controller is proposed to ensure global asymptotic stability of the closed loop of a robot manipulator with unmeasurable velocities.
Book ChapterDOI
Trajectory control of flexible manipulators
TL;DR: In this article, a generalized inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and full state linearization for manipulators with flexible elements is presented.
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.