Title :
A simple PD controller for robots with elastic joints
Author_Institution :
Dipartimento di Ingegneria Elettronica, Seconda Univ. di Roma, Italy
fDate :
10/1/1991 12:00:00 AM
Abstract :
The point-to-point control of manipulators having elastic joints is considered. It is shown that a simple PD (proportional plus derivative) controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position. A robustness analysis is also given with respect to uncertainties on the robot parameters. The results of numerical simulation tests of a manipulator with three revolute elastic joints are presented
Keywords :
control system analysis; position control; robots; stability; two-term control; PD controller; elastic joints; manipulators; point-to-point control; position control; robots; robustness; stability; two term control; uncertainties; Elasticity; Equations; Manipulators; PD control; Robot control; Robotics and automation; Robustness; Service robots; State feedback; Uncertainty;
Journal_Title :
Automatic Control, IEEE Transactions on
