Constrained joint PD plus controller for flexible link robots
2000 (English)Conference paper (Refereed)
A class of globally asymptotically stable regulators for a finite-dimensional model of robot arm with flexible links under gravity is presented. The control law is formed as the sum of static compensation of gravity at the desired position and constrained state feedback. Only some of generalized coordinates (joint positions and velocities) are assumed available for measurement and saturation in amplifier characteristic curves is taken into account. Copyright (C) 2000 IFAC.
Place, publisher, year, edition, pages
Princeton University, USA: PERGAMON-ELSEVIER SCIENCE LTD , 2000. 165-166 p.
, A Proceedings volume from the IFAC Workshop, Princeton, New Jersey, USA, 16 - 18 March 2000
mechanical systems, robotic manipulators, flexible arms, set-point control, constrained feedback stabilization, Lyapunov method, global stability
Robotics Control Engineering
IdentifiersURN: urn:nbn:se:umu:diva-88146ISI: 000171275300029ISBN: 978-0-08-043658-6OAI: oai:DiVA.org:umu-88146DiVA: diva2:713663
IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control