ON STABILITY AND CONTROL OF ELASTIC-JOINT ROBOTIC MANIPULATORS DURINGCONSTRAINED-MOTION TASKS

Authors
ROCCO P
Citation
P. Rocco, ON STABILITY AND CONTROL OF ELASTIC-JOINT ROBOTIC MANIPULATORS DURINGCONSTRAINED-MOTION TASKS, IEEE transactions on robotics and automation, 13(3), 1997, pp. 467-469
Citations number
9
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
13
Issue
3
Year of publication
1997
Pages
467 - 469
Database
ISI
SICI code
1042-296X(1997)13:3<467:OSACOE>2.0.ZU;2-5
Abstract
In the above paper,(1) a singularly perturbed model of an elastic-join t robotic manipulator constrained by a rigid environment has been pres ented. The purpose of this correspondence is to show that the expressi on of the boundary layer subsystem is incorrect. The correct expressio n is given and it is shown that, for a control system designed for rig id robots, the uniform exponential stability of the boundary layer sys tem, required for the application of Tikhonov's theorem, can still be proven.