Title :
PD control of robot manipulators considering joint flexibility, actuators dynamics and friction
Author :
Lozano, R. ; Valera, A. ; Albertos, P. ; Arimoto, S.
Author_Institution :
Heudiasyc-UTC, Compiegne, France
Abstract :
This paper presents a PD controller for robot manipulators simultaneously considering joint flexibility, actuators dynamics as well as friction. The convergence analysis of the proposed PD controller is carried out using passivity. Global convergence to a desired fixed angular position is proved only using position and velocity measurements
Keywords :
actuators; convergence; flexible structures; friction; manipulator dynamics; two-term control; PD control; actuator dynamics; convergence analysis; fixed angular position; friction; global convergence; joint flexibility; passivity; position measurement; robot manipulators; velocity measurement; Actuators; Algorithm design and analysis; Convergence; Equations; Force control; Friction; Manipulator dynamics; PD control; Physics; Robot control;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611934
