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Constrained joint PD plus controller for flexible link robots
Michigan State University.ORCID iD: 0000-0003-0730-9441
2000 (English)Conference paper (Refereed)
Abstract [en]

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
Keyword [en]
mechanical systems, robotic manipulators, flexible arms, set-point control, constrained feedback stabilization, Lyapunov method, global stability
National Category
Robotics Control Engineering
URN: urn:nbn:se:umu:diva-88146ISI: 000171275300029ISBN: 978-0-08-043658-6OAI: diva2:713663
IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
Available from: 2014-04-23 Created: 2014-04-23 Last updated: 2014-04-24

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ReferencesLink to record
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