Set-point Control of Elastic Joint Robots Using only Position Measurements

Motivated by the dynamic output feedback passification results, point-to-point control laws for an elastic joint robot are presented when only the position measurements are available. The proposed method makes a parallel connection of the robot system and an input-dimensional linear system which obt...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2002-08, Vol.16 (8), p.1079-1088, Article 1079
Main Authors: SON, Young-Ik, HYUNGBO SHIM, SEO, Jin-Heon
Format: Article
Language:English
Subjects:
Applied sciences
Closed loops
Computer science
control theory
systems
Control system analysis
Control theory
Control theory. Systems
Dynamical systems
Exact sciences and technology
Law
Laws
Linear systems
Nonlinear dynamics
Nonlinearity
Output feedback
Position measurement
Robot control
Robotics
Robots
Studies
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Summary:Motivated by the dynamic output feedback passification results, point-to-point control laws for an elastic joint robot are presented when only the position measurements are available. The proposed method makes a parallel connection of the robot system and an input-dimensional linear system which obtains the effect of the desired differentiators. It is shown that the closed-loop nonlinear robot system can be rendered output strictly passive and the regulation of the system is achieved in the end. Robustness analysis is also given with regard to uncertainties on the robot parameters. Performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints.
ISSN:1738-494X
1226-4865
1976-3824
DOI:10.1007/BF02984017