Title :
Regulation of flexible arms under gravity
Author :
De Luca, Alessandro ; Siciliano, Bruno
Author_Institution :
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
fDate :
8/1/1993 12:00:00 AM
Abstract :
A simple controller is presented for the regulation problem of robot arms with flexible links under gravity. It consists of a joint PD feedback plus a constant feedforward. Global asymptotic stability of the reference equilibrium state is shown under a structural assumption about link elasticity and a mild condition on the proportional gain. The result holds also in the absence of internal damping of the flexible arm. A numerical case study is presented
Keywords :
feedback; robots; stability; two-term control; constant feedforward; flexible arms; flexible links; global asymptotic stability; gravity; joint PD feedback; link elasticity; mild condition; proportional gain; reference equilibrium state; robot arms; Arm; Asymptotic stability; Damping; Elasticity; Feedback; Gravity; Manipulators; PD control; Robot kinematics; Strain measurement;
Journal_Title :
Robotics and Automation, IEEE Transactions on
