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
On stability and regulation performance for flexible-joint robots with input/output communication delays
Yen-Chen Liu,Nikhil Chopra +1 more
TL;DR: The set-point control problem for flexible-joint robots with input/output communication delays is studied and it is demonstrated that the scattering variables address the stability problem for unknown constant delays, however, in contrast to the rigid-robot case, they cannot guarantee set- point regulation.
Proceedings ArticleDOI
Prescribed performance tracking for flexible joint robots with unknown dynamics and elasticity
TL;DR: Simulation on a two link flexible joint robot validate the efficiency of the proposed control approach and guarantees link position performance specifications that have been a-priori set utilizing full state feedback.
Dissertation
Commande hybride position/force robuste d’un robot manipulateur utilisé en usinageet/ou en soudage
TL;DR: In this article, the authors propose an approach for estimating the set-up complet de a robot with respect to a set of 6 axes and a flexibilite localisation of articulations.
Proceedings ArticleDOI
A Highly Integrated Joint Servo System Based on FPGA with Nios II Processor
TL;DR: Experimental results demonstrate the effectiveness of the compact joint servo controller for the HIT/DLR arm on one-chip FPGA with embedded NIOS II processor.
Proceedings ArticleDOI
Online impedance parameter tuning for compliant biped balancing
Emmanouil Spyrakos-Papastavridis,Navvab Kashiri,Jinoh Lee,Nikos G. Tsagarakis,Darwin G. Caldwell +4 more
TL;DR: A series of experiments carried out using the COmpliant huMANoid (COMAN), demonstrates the superior balancing results acquired when using the proposed scheme, as compared to utilizing controllers possessing constant impedance 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.