Title :
Stabilization of a two-link robot using an energy approach
Author :
Fantoni, I. ; Lozano, R. ; Mazenc, F. ; Annaswamy, A.
Author_Institution :
Heudiasyc, UTC, Compiegne, France
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
A design method for the control of a two-link robotic mechanism with a spring between the links is presented in this paper. This system is underactuated because only the first link can be controlled while the second link is not directly actuated. Our control strategy will be based on an energy approach and the passivity properties of the system.
Keywords :
control system synthesis; robot dynamics; robot kinematics; stability; control design method; energy approach; passivity properties; spring; two-link robot stabilization; two-link robotic mechanism; Convergence; Electronic mail; Mathematical model; Robot kinematics; Springs; Transmission line matrix methods; Lyapunov function; Nonlinear systems; Passivity; Two-link robot; Underactuated mechanical systems;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
