PD control of robot manipulators with joint flexibility, actuators dynamics and friction

Authors
Lozano, R Valera, A Albertos, P Arimoto, S Nakayama, T
Citation
R. Lozano et al., PD control of robot manipulators with joint flexibility, actuators dynamics and friction, AUTOMATICA, 35(10), 1999, pp. 1697-1700
Citations number
10
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
AUTOMATICA
ISSN journal
00051098 → ACNP
Volume
35
Issue
10
Year of publication
1999
Pages
1697 - 1700
Database
ISI
SICI code
0005-1098(199910)35:10<1697:PCORMW>2.0.ZU;2-A
Abstract
This paper presents a PD controller for robot manipulator considering simul taneously joint flexibility, actuators dynamics as well as friction. The co nvergence analysis of the proposed PD controller is carried out using passi vity. Global convergence to a desired fixed angular position is proved usin g only angular position and velocity measurements. (C) 1999 Elsevier Scienc e Ltd. All rights reserved.