Global regulation of elastic joint robots based on energy shaping

DOI10.1109/9.720506MaRDI QIDQ4506576zbMATH OpenOpenAlexFDO

Authors Rafael Kelly, Victor Santibáñez

Publication date 17 October 2000

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

Full work available at URL https://doi.org/10.1109/9.720506

zbMATH Keywords

damping injectionelastic joint robotsenergy-shaping methodologyflexible structureglobal regulator designpotential energiesrigid robot manipulators

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21)

Recommendations

• Energy regulation of torque-driven robot manipulators in joint space
• A class of adaptive regulators for robot manipulators
• An observer-based set-point controller for robot manipulators with flexible joints
• Experimental control of a single-link flexible robot arm using energy shaping
• Design of global tracking controllers for flexible‐joint robots

Cited in

(4)

• Energy regulation of torque-driven robot manipulators in joint space
• A family of hyperbolic-type control schemes for robot manipulators
• Energy Based Limit Cycle Control of Elastically Actuated Robots
• Global regulation of a planar robot arm striking a surface

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