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
Use of a Simple Mechanical Analogy to Analytically Tune the PD Controller of a Flexible Manipulator System
TL;DR: A study is presented in this paper that uses a simple mechanical analogy to analytically tune the PD (proportional-derivative) controller of a linear flexible manipulator system to give simple closed-form solutions of the optimal P and D gains to yield the maximum bandwidth under agiven damping requirement or conversely the maximum damping under a given bandwidth requirement.
Proceedings ArticleDOI
PD control of robot manipulators considering joint flexibility, actuators dynamics and friction
TL;DR: In this paper, a PD controller for robot manipulators simultaneously considering joint flexibility, actuators dynamics as well as friction is presented, and global convergence to a desired fixed angular position is proved only using position and velocity measurements.
DissertationDOI
Dispositif d’assistance associé à des robots manipulateurs utilisés dans des procédés de fabrication/FSW
TL;DR: In this paper, the authors present travaux de these, the possibilite d'utiliser un dispositif d'assistance associe a un robot manipulateur, afin dameliorer sa capacite de charge and sa rigidite.
Proceedings ArticleDOI
Design and control of a novel multi-state compliant safe joint for robotic surgery
TL;DR: A novel design of compliant safe joint, which has flexibility when the work load exceeds a predefined threshold, and a simple algorithm to choose control methods so that the system can work both under rigid and flexible states with different controllers.
Proceedings ArticleDOI
Consensus of networks of nonidentical robots with flexible joints, variable time-delays and immeasurable velocities
TL;DR: The paper presents some experiments, using three 3-Degrees of Freedom manipulators, which show the performance of the proposed approaches, and the only assumption on the directed and weighted interconnection graph is that it is connected.
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.