REGULATION OF FLEXIBLE ARMS UNDER GRAVITY

Authors
DELUCA A SICILIANO B
Citation
A. Deluca et B. Siciliano, REGULATION OF FLEXIBLE ARMS UNDER GRAVITY, IEEE transactions on robotics and automation, 9(4), 1993, pp. 463-467
Citations number
13
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Computer Applications & Cybernetics
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
9
Issue
4
Year of publication
1993
Pages
463 - 467
Database
ISI
SICI code
1042-296X(1993)9:4<463:ROFAUG>2.0.ZU;2-L
Abstract
A simple controller is presented for the regulation problem of robot a rms with flexible links under gravity. It consists of a joint PD feedb ack plus a constant feedforward. Global asymptotic stability of the re ference equilibrium state is shown under a structural assumption about link elasticity and a mild condition on the proportional gain. The re sult holds also in the absence of internal damping of the flexible arm . A numerical case study is presented.