Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics

DOI10.1109/9.566669zbMATH Open0876.93067OpenAlexW2143159128MaRDI QIDQ4339731FDOQ4339731

Authors: Amit Ailon, Rogelio Lozano-Leal, Michael I. Gil' 

Publication date: 2 December 1997

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.566669

Recommendations

• PD control of robot manipulators with joint flexibility, actuators dynamics and friction
• An observer-based set-point controller for robot manipulators with flexible joints
• Global set point control via link position measurement for flexible joint robots
• Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification

zbMATH Keywords

global asymptotic stabilityLyapunov functionlinear controlleractuator dynamicsgravity compensationflexible joint robotic manipulators

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Cited In (5)

• Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances
• Uniform semiglobal practical asymptotic stability for non-autonomous cascaded systems and applications
• Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters
• On stability and regulation performance for flexible-joint robots with input/output communication delays
• Robust tracking control for a class of electrically driven flexible-joint robots without velocity measurements

This page was built for publication: Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4339731)