Title :
A stabilizing controller design for flexible joint robot manipulators
Author :
Lee, M.H. ; Baek, W.B. ; Lee, J.N. ; Yoon, K.S. ; Hong, K.S.
Author_Institution :
Dept. of Control & Mech. Eng., Pusan Nat. Univ., South Korea
Abstract :
Presents a stabilizing controller design method for flexible joint robot manipulators, which incorporates an additional stabilizing control law with the sliding property. The simulations of a 2-D/O/F/ flexible joint manipulator show that the proposed scheme is effective for manipulators with highly flexible joints
Keywords :
manipulators; flexible joint robot manipulators; simulations; sliding property; stabilizing control law; stabilizing controller design; Actuators; Belts; Design engineering; Design methodology; Integral equations; Manipulator dynamics; Motion control; Reduced order systems; Robots; Sliding mode control;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583178
