Estimates of flexible-joint robot model response times and some control applications

The basic problem of estimating the response time of a flexible-joint robot is considered. An upper bound on the robot's velocity and elastic displacement vector norms has been established. Applications of the results are considered. The design of a reduced-order observer for a flexible-joint r...

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Bibliographic Details
Published inSystems & control letters Vol. 26; no. 2; pp. 79 - 85
Main Author Ailon, A.
Format Journal Article
LanguageEnglish
Published Amsterdam Elsevier B.V 22.09.1995
Elsevier
Subjects
Applied sciences
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Flexible-joint robot control
Measure of total energy
Reduced-order observer
Robotics
Flexible-joint robot control
Measure of total energy
Reduced-order observer
Control
Total energy
Estimation
Observer
Flexible structures
Robotics
Response time (computer systems)
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Summary:The basic problem of estimating the response time of a flexible-joint robot is considered. An upper bound on the robot's velocity and elastic displacement vector norms has been established. Applications of the results are considered. The design of a reduced-order observer for a flexible-joint robot is demonstrated, regardless of a prerequisite assumption concerning the boundedness of the velocity norm.
ISSN:0167-6911
1872-7956
DOI:10.1016/0167-6911(94)00102-2