Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters

DOI10.1007/BF01206679MaRDI QIDQ1306187zbMATH OpenFDO

Authors Amit Ailon, Michael I. Gil', Eun-Seok Choi, Byung-Ha Ahn

Publication date 7 June 2000

Published in Circuits, Systems, and Signal Processing (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/BF01206679

zbMATH Keywords

automated systemsDC motorsflexible-joint robotsoutput feedbackpole placementstabilization of systems by feedback

Mathematics Subject Classification ID

Pole and zero placement problems (93B55) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

Review text

The present paper considers the stabilization of flexible-joint robots with uncertain elements powered by DC motors. The proposed linear output based controller ensures local exponential stability under some uncertainty conditions. Assuming that the velocity signals from the link side are not measurable, the controller is analyzed by using tools from pole placement by output feedback in the framework of linear system theory.

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Cites work

• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
• An adaptive partial state-feedback controller for RLED robot manipulators
• An observer-based set-point controller for robot manipulators with flexible joints
• Global regulation of flexible joint robots using approximate differentiation
• Global regulation of robots using only position measurements
• Global set point control via link position measurement for flexible joint robots
• scientific article; zbMATH DE number 932226 (Why is no real title available?)
• Modeling and Control of Elastic Joint Robots
• Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models
• Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics
• Pole assignment by gain output feedback

Cited in

(2)

• Structural properties of a flexible-joint robot model with output controllers and some related applications
• A simple linear stabilizing controller for a RLED robot with uncertain parameters and some related applications

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