Controller-observers for set-point tracking of flexible-joint robots including Coriolis and centripetal effects in motor dynamics

This paper simplifies and extends previous results associated with the synthesis of controller-observers for set-point regulation of flexible-joint robots. The underlying model accounts for the effects of Coriolis and centripetal forces on both the links and the motors. According to the present appr...

Full description

Saved in:
Bibliographic Details
Published inAutomatica (Oxford) Vol. 32; no. 9; pp. 1329 - 1331
Main Authors Ailon, A., Lozano, R.
Format Journal Article
LanguageEnglish
Published Oxford Elsevier Ltd 01.09.1996
Elsevier
Subjects
Applied sciences
Computer science; control theory; systems
Control system synthesis
Control theory. Systems
Elastic-joint robots
Exact sciences and technology
motor dynamics
output feedback
point-to-point control
Robotics
Elastic-joint robots
output feedback
point-to-point control
motor dynamics
Set point
Stiffness matrix
Elastic structure
Motor torque
Tracking task
Point to point control
Joint
Manipulator
Asymptotic stability
Observer
Coriolis acceleration
Robot
Output feedback
Centripetal force
Gain
Online AccessGet full text

Cover

More Information
Summary:This paper simplifies and extends previous results associated with the synthesis of controller-observers for set-point regulation of flexible-joint robots. The underlying model accounts for the effects of Coriolis and centripetal forces on both the links and the motors. According to the present approach, the lower bounds on the feedback gains and joint stiffness coefficients that ensure global asymptotical stability can be reduced in comparison with previous studies. The proof of the main result in the present case necessitates an additional insight into the physical character and natural structure of the system's model.
ISSN:0005-1098
1873-2836
DOI:10.1016/0005-1098(96)00075-1