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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Journal ArticleDOI
Adaptacyjny-neuronowy obserwator Luenbergera zastosowany w estymacji zmiennych stanu układu dwumasowego
Journal ArticleDOI
Controle em cascata de um manipulador robótico com um elo e uma transissão flexível
TL;DR: In this paper, a trabalho trata os problemas ocasionados pelas transmissoes elasticas no controle de posicao de robos manipuladores.
Proceedings ArticleDOI
A Simple but Robust Impedance Controller for Series Elastic Actuators
TL;DR: This study presents an impedance controller for series elastic actuators (SEAs), using the singular perturbation (SP) theory and time-delay estimation (TDE) technique, and demonstrates that the proposed controller produces satisfactory tracking performance while–at the same time–pursues wider operational bandwidth and lower driving-point impedance.
Dynamic Gravity Cancellation and Regulation Control in Robots with Flexible Transmissions: Constant, Nonlinear, and Variable Stiffness
TL;DR: In this article, the authors considered the problem of perfect cancellation of gravity effects in the dynamics of robot manipulators having flexible transmissions at the joints and designed feedback control laws that let the system outputs behave as those of the same robot device when gravity is absent.
Book ChapterDOI
Coordination of Rigid and Flexible Joint Robot Manipulators
TL;DR: In this article, two coordinating controllers are presented, one for rigid joint robots and one for flexible joint robots, in both cases the coordination system is based on a master-slave scheme and only position measurements are required.
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.