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
Position regulation of flexible-joint robots with input/output constant delays
Yen-Chen Liu,Nikhil Chopra +1 more
TL;DR: A new control framework without scattering transformation is studied in this paper to guarantee both stability and position regulation provided that the control gain is appropriately selected based on a bound on the time delays.
Journal ArticleDOI
High-Stiffness Control of Series Elastic Actuators Using a Noise Reduction Disturbance Observer
TL;DR: In this article , the authors apply the noise reduction disturbance observer to inner-loop velocity control of an elastic actuator, attenuating noise and allowing higher safe rendered stiffness compared with standard torque and torque/velocity hierarchical control.
Proceedings ArticleDOI
The Direct Lyapunov Method in the Motion Stabilization Problems of Robot Manipulators
TL;DR: An overview of the direct Lyapunov method development in the motion stabilization problem of multi-link robot manipulators is presented, taking into account the elasticity properties of the connecting elements of the links.
Proceedings ArticleDOI
Stability analysis for feedforward approximations in the control of flexible joint robots
L. Lanari,P. Sicard,John T. Wen +2 more
TL;DR: A stability analysis for different types of feedforward is presented, and it is possible to deduce the type of stability, local exponential or Lagrange, of the other forms of feed forward without explicitly searching for new Lyapunov functions.
Journal ArticleDOI
Control of flexible joint robot manipulators by compensating flexibility
TL;DR: This paper presents a novel method for controlling flexible-joint robot manipulators by compensating flexibility to form a rigid robot and then control methods for rigid robots are applied.
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.