Journal ArticleDOI
A simple PD controller for robots with elastic joints
Reads0
Chats0
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
More filters
Journal ArticleDOI
Development of the Fragmented-Motion-Segment Concept for Flexible Joint Robots to Raise Energy Efficiency in Handling Tasks
Lars Böhme,Jozef Suchý +1 more
TL;DR: A simulation is provided that models a single flexible joint following a planned trajectory for comparison with a traditional robot joint and presents a motion control strategy utilizing the principle of reduced energy difference.
Proceedings ArticleDOI
On Output Feedback Stabilization and Tracking Control of Elastic-Joint Robotic Manipulators
TL;DR: New approaches to solve the problems on set-point stabilization and trajectory tracking control of elastic joined robotic manipulators are presented and a new controller like a nonlinear PI regulator is obtained.
Book ChapterDOI
A pd control law for trajectory tracking of flexible joint robots
Salvatore Nicosia,Patrizio Tomei +1 more
TL;DR: By simulation tests, it is shown by simulation tests that the PD control law proposed by the authors in a previous work may be effective (with some modifications) also for trajectory tracking problems.
Robust Motion Control of Industrial Robot Based on Robot Parameter Identification and Feedforward Control Considering Resonant Frequency Somsawas Tungpataratanawong ∗ Student Member
TL;DR: The open-loop resonant frequency characteristic of the flexible joint is employed to identify the proper mechanical parameters of the two-inertia model and the accuracy improvement of the proposed robust control scheme based on feedforward inverse dynamic compensation and D-PD position control gives support to the validity of this novel identification method.
Modeling and control of an antagonistically actuated tendon driven anthropomorphic hand
TL;DR: In this paper, the authors developed an anthropomorphic and extremely robust hand arm system at the robotics and mecatronics center of DLR with 52 motors and more than 200 sensors.
References
More filters
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.