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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Journal ArticleDOI
Design of a momentum-based disturbance observer for rigid and flexible joint robots
TL;DR: By introducing the generalized momentum, it is possible to utilize full nonlinearities and couplings of the inertia matrix in the DOB design and can be easily extended to the flexible joint robot applications by applying it to the link- side dynamics and motor-side dynamics, respectively.
Journal ArticleDOI
Emulation of robots interacting with environment
Farhad Aghili,J.-C. Piedboeaeuf +1 more
TL;DR: In this paper, the authors present a methodology for emulation of a target robot operating in a complex environment by using an actual robot, which can represent any class of robots, e.g., flexible, redundant, or space robots.
Journal ArticleDOI
Asymptotic stability in a flexible-joint robot with model uncertainty and multiple time delays in feedback
TL;DR: This study considers the stability problem of a flexible-joint robot in case time delays are involved in the feedback loop and uses some useful structural properties of the robot model to establish sufficient conditions for asymptotic stability of the system under consideration.
Journal ArticleDOI
Design of an optimal feedback linearizing-based controller for an experimental flexible-joint robot manipulator
Tarek Lahdhiri,Hoda A. ElMaraghy +1 more
TL;DR: In this paper, an optimal non-linear position tracking controller for a two-link flexible joint robot manipulator is designed based on the concept of exact feedback linearization and LQG/LTR techniques.
Proceedings ArticleDOI
An approach to development of electro hydrostatic actuator (EHA)-based robot joints
TL;DR: The study shows that both configurations of an electro hydrostatic actuator (EHA) result in the same dynamic model, and that the resulting dynamic model is equivalent to the dynamic model of flexible joint robots (FJR).
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.