Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics

Author

Ailon, Amit ; Lozano-Leal, Rogelio ; Gil, Michael

Author_Institution

Dept. of Electr. Eng. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel

Volume

42

Issue

4

fYear

1997

fDate

4/1/1997 12:00:00 AM

Firstpage

559

Lastpage

564

Abstract

This paper considers the set-point tracking problem in rigid and flexible-joint robots when both the mechanical as well as the electrical effects of the actuator dynamics are taken into account. The suggested controllers are based on state and output feedbacks. The current approach demonstrates that for every given desired operating point, linear state and output feedbacks with constant feedforwards can be constructed such that the closed-loop system is globally asymptotically stable

Keywords

asymptotic stability; closed loop systems; electric actuators; robots; state feedback; tracking; actuator dynamics; closed-loop system; constant feedforwards; electrical effects; flexible joints; globally asymptotically stable system; mechanical effects; output feedbacks; point-to-point regulation; rigid-joint robots; set-point tracking problem; state feedbacks; Actuators; Asymptotic stability; DC motors; Electric variables control; Force control; Magnetic variables control; Mechanical systems; Output feedback; Proportional control; Service robots;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.566669

Filename

566669