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
Task space robot control: convergence analysis and gravity compensation via integral feedback
TL;DR: It is proved that a suitable choice of the feedback gains always ensure for P-type inner loop, uniform ultimate boundedness of the errors, while using PI- type inner loop it is possible to prove the local asymptotic convergence to zero of the position and orientation errors.
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Prescribed performance regulation for robot manipulators
Zoe Doulgeri,Olga Zoidi +1 more
TL;DR: The control input incorporates a transformed error that ensures prescribed error performance which is not affected by constant disturbances and control gains and control parameter selection is significantly simplified.
Proceedings ArticleDOI
Robustness of PID-controlled manipulators with respect to external disturbances
TL;DR: This work provides a proof, and a tuning procedure, to establish uniform semiglobal practical asymptotic stability for robot manipulators under the influence of external disturbances, in contrasts to other works on robust stability of PIDs.
Proceedings ArticleDOI
Enhanced physical interaction performance for compliant joint manipulators using proxy-based Sliding Mode Control
TL;DR: This paper introduces a control scheme to implement this controller in a class of underactuated systems and demonstrates the performance of the proposed scheme in dynamic simulation of an anthropomorphic compliant arm.
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Robust Output Feedback Control of Single-Link Flexible-Joint Robot Manipulator with Matched Disturbances Using High Gain Observer
TL;DR: In this article, a sliding mode control (SMC) based output feedback controller is devised for single-link flexible-joint robot manipulators (SFJRMs) with matched disturbances and parametric uncertainties, and the results show that the designed control technique works well when the SFJRM model is uncertain and matched perturbations are expected.
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.