A. Deluca et S. Panzieri, END-EFFECTOR REGULATION OF ROBOTS WITH ELASTIC ELEMENTS BY AN ITERATIVE SCHEME, International journal of adaptive control and signal processing, 10(4-5), 1996, pp. 379-393
Citations number
10
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
The regulation of motor variable positions in robots with elastic elem
ents has been solved using PD linear controllers in the absence of gra
vity and with the addition of a model-based feedforward term when grav
ity is present. When the mass of the links is not known, an iterative
learning scheme can be derived to obtain the same result for both join
t elasticity and link flexibility. An extension to end-effector regula
tion with a similar two-stage and hence time-consuming scheme has been
proposed. In this paper we show the feasibility of a new iterative on
e-stage scheme able to directly regulate the end-effector position in
robots with joint elasticity and in robots whose distributed flexibili
ty is limited for each link to the plane orthogonal to the associated
motor axis. Experimental results are included to show the improved rat
e of convergence of the proposed scheme applied to a two-link flexible
robot available in our laboratory.