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

DOI10.1109/9.566669MaRDI QIDQ4339731zbMATH OpenOpenAlexFDO

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

zbMATH Keywords

global asymptotic stabilityLyapunov functionlinear controlleractuator dynamicsgravity compensationflexible joint robotic manipulators

Mathematics Subject Classification ID

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

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Cited in

(5)

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

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