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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Proceedings ArticleDOI
Gravity compensation control of compliant joint systems with multiple drives
Emmanouil Spyrakos-Papastavridis,Gustavo A. Medrano-Cerda,Nikos G. Tsagarakis,Jian S. Dai,Darwin G. Caldwell +4 more
TL;DR: This paper presents a sufficient condition to establish the existence of unique equilibrium points for three types of gravity compensation controller when applied to over-actuated systems and extends the current theory by introducing feedback gain matrices that are not constrained to being diagonal and positive definite.
Proceedings ArticleDOI
Global output feedback tracking control for rigid-link flexible-joint robots
TL;DR: An exact model knowledge, Lyapunov-based controller which provides global asymptotic link position tracking despite the fact that only link position measurements are available.
Journal ArticleDOI
Optimization of Stiffness to Achieve Increased Bandwidth and Torque Resolution in Nonlinear Stiffness Actuators
TL;DR: A quantized comprehensive performance index the perceptivity and responsiveness index (PRI) is proposed, and the LDNSA with optimal stiffness yields high comprehensive performance including increased bandwidth in the case of low stiffness and increased torque resolution in the cases of large load.
Dissertation
Contribution à la modélisation et la commande robuste de robots manipulateurs à articulations flexibles. Applications à la robotique interactive.
TL;DR: In this article, the authors propose a strategy adaptative de filtrage and de decision tenant compte de l'etat du systeme, which is compatible with les normes and les recommandations de securite relatives a la robotique collaborative.
Journal ArticleDOI
Saturated control of flexible-joint manipulators using a Hammerstein strictly positive real compensator
TL;DR: The controllers investigated are composed of a bounded proportional control term and a Hammerstein strictly positive real angular rate control term that ensures that the total torque demanded of each actuator is bounded by a value that is less than the maximum torque that each actuators is able to provide, thereby disallowing actuator saturation.
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.