Motional stabilization of the elastic manipulator (Q1281041)
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English | Motional stabilization of the elastic manipulator |
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Motional stabilization of the elastic manipulator (English)
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5 December 2000
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The problem addressed is the joint space trajectory tracking in a manipulation robot having some kind of flexibility. This flexibility is modeled by introducing into the manipulator a suitable number of artificial, non-actuated joints. It is assumed that the elastic forces exerted at these joints depend on the joints' positions and velocities, and are described as \[ M_i=-k_i \psi_i-l_i \dot\psi_i \] \((\psi_i\) denote positions of the non-actuated joints) for some positive gain coefficients \(k_i,l_i\). Under such an assumption the main result of this paper establishes that a control law of the form \[ u_j=-H_j \text{sign}(s_k), \quad s_i=\dot e_j+\lambda_je_j,\;e_j= \varphi_j- \varphi^*_j, \] where \(\varphi_j\) stand for positions of actuated joints, \(\varphi^*_j\) denote desirable actuated joint trajectory, \(\lambda_t>0\), renders the closed loop system exponentially stable provided that the gain coefficients \(l_i\) of non-actuated joints are sufficiently large.
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elastic joints
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stabilization
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trajectory tracking
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manipulation robot
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flexibility
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