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

DOI10.1109/9.566669zbMath0876.93067OpenAlexW2143159128MaRDI QIDQ4339731

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

zbMATH Keywords

Lyapunov functionglobal asymptotic stabilitylinear controlleractuator dynamicsgravity compensationflexible joint robotic manipulators

Mathematics Subject Classification ID

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

Related Items (5)

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

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