DocumentCode
3280473
Title
Control of flexible joint robots
Author
Mrad, Fouad ; Ahmad, Shaheen
Author_Institution
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2832
Abstract
A switching control scheme is described for flexible joint robots which does not use link jerk or acceleration feedback. The control scheme does not require the numerical differentiation of the velocity signal or the inversion of the inertial matrices. Simulations are presented to verify the validity of the control scheme and its superiority over existing rigid robot controllers when applied to flexible joint robots
Keywords
Lyapunov methods; control system analysis; robots; Lyapunov function; flexible joint robots; switching control; Acceleration; Couplings; Feedback; Force control; Manipulator dynamics; Nonlinear equations; Robot control; Service robots; Sliding mode control; Symmetric matrices;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.132062
Filename
132062
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