Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models

DOI10.1016/0005-1098(96)00087-8MaRDI QIDQ674945zbMATH OpenOpenAlexFDO

Authors Amit Ailon

Publication date 16 July 1997

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0005-1098(96)00087-8

zbMATH Keywords

flexible-joint robotglobal contraction mappingiterative proceduresposition measurementset-point regulation problem

Mathematics Subject Classification ID

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

Review text

The set-point regulation problem of a flexible-joint robot with unknown parameters (a set of possible values of these uncertainties is known) using only position measurements is investigated. The proposed iterative procedures guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. It has been shown that in the rigid robot case, the rate of convergence in each iteration can be made arbitrarily fast. In the case of the flexible-joint robot, the rate of convergence can be tuned by the user in some well-defined range, but can't be made arbitrarily high. The proposed algorithms are based on the global contraction mapping theorem.

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Cites work

• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
• An iterative scheme for learning gravity compensation in flexible robot arms
• An observer-based set-point controller for robot manipulators with flexible joints
• Global regulation of flexible joint robots using approximate differentiation
• scientific article; zbMATH DE number 439900 (Why is no real title available?)
• Robot control by using only joint position measurements

Cited in

(6)

• Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters
• Two-way fuzzy adaptive identification and control of a flexible-joint robot arm
• Stability analysis of a rigid robot with output-based controller and time delay
• End-effector regulation of robots with elastic elements by an iterative scheme
• Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity
• More on the applications of the contraction mapping method in robotics

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