DocumentCode
1548769
Title
On “Stability and control of elastic-joint robotic manipulators during constrained-motion tasks”
Author
Rocco, Paolo
Author_Institution
Dipartimento di Elettronica e Inf., Politecnico di Milano, Italy
Volume
13
Issue
3
fYear
1997
fDate
6/1/1997 12:00:00 AM
Firstpage
467
Lastpage
469
Abstract
In the original paper by J.K. Mills (ibid., vol.8, p. 119-26, 1992), a singularly perturbed model of an elastic-joint robotic manipulator has been presented. The author shows that the expression of the boundary layer subsystem is incorrect. The correct expression is given and it is shown that, for a control system designed for rigid robots, the uniform exponential stability of the boundary layer system, required for the application of Tikhonov´s theorem, can still be proven
Keywords
boundary-value problems; flexible structures; manipulators; stability; Tikhonov´s theorem; boundary layer subsystem; constrained-motion tasks; control system; elastic-joint robotic manipulator control; rigid robots; singularly perturbed model; uniform exponential stability; Actuators; Control systems; Damping; Equations; Jacobian matrices; Lagrangian functions; Manipulators; Robot control; Robot kinematics; Stability;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.585908
Filename
585908
Link To Document