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
A New Result on PD Controller Design for Second Order Nonlinear Uncertain Systems
Xie Weichen,Sun Yimin +1 more
TL;DR: In this paper , a proportional-derivative controller can stabilize globally second-order nonlinear uncertain systems under the Markus-Yamabe Conjecture under certain conditions, and the corresponding result holds for nonlinear dynamical control systems with more uncertainty.
Journal ArticleDOI
Physical-Parameter-Free Learning of Inverse Dynamics for Multi-DOF Industrial Robots via Sparsity and Feature Learning
Proceedings ArticleDOI
Time-Delay Compensation and Disturbance Rejection in the Control of Robots with Visco-elastic Joints Using Loop-Shaping Approach
TL;DR: This study presents a new control approach to force robots to have rigid and exact motions, while they have visco-elastic components, and illustrates appropriate time-delay compensation and disturbance rejection in the time response.
Proceedings ArticleDOI
A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots
Dominic Lakatos,Yuri Federigi,Thomas Gumpert,Bernd Henze,Milan Hermann,Florian Loeffl,Florian Schmidt,Daniel Seidel,Alin Albu-Schaffer +8 more
TL;DR: The paper addresses the static balancing and walking of elastically actuated legged robots by commanding the motor positions only and exploiting the bijective relation between motor and link positions at equilibrium under static external forces.
Proceedings ArticleDOI
Robust Link Position Tracking Control for Robot Manipulators with Series Elastic Actuators Using Time-delay Estimation
TL;DR: The conventional use of a constant gain matrix for the TDE framework is insufficient for high accuracy tracking because the tracking accuracy is significantly deteriorated and the closed-loop stability may be threatened.
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.