Title :
Point-to-point control of elastic joint robots-dynamic output feedback passification approach
Author :
Son, Young I. ; Shim, Hyungbo ; Seo, Jin H.
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
Abstract :
Motivated by the dynamic output feedback passification results, a point-to-point control law for an elastic joint robot is presented when only the position measurements are available. This provides an alternative way of replacing the role of the velocity measurements for the proportional-derivative (PD) feedback law. The proposed methodology makes a parallel connection of the robot system and an input-dimensional linear system which obtains the effect of the desired differentiators. It is shown that the closed-loop nonlinear robot system satisfies the sufficient conditions for passification and the regulation as well as the passivity of the system is achieved in the end. The performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints
Keywords :
closed loop systems; feedback; nonlinear systems; position measurement; robot dynamics; two-term control; closed-loop nonlinear robot system; dynamic output feedback passification; elastic joint robots; input-dimensional linear system; parallel connection; point-to-point control; position measurements; proportional-derivative feedback; revolute elastic joints; robot system; system passivity; Control systems; Linear systems; Output feedback; Parallel robots; Position control; Position measurement; Proportional control; Robot control; Velocity control; Velocity measurement;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.931971
