DocumentCode :
1429001
Title :
Iterative regulation of an electrically driven flexible-joint robot with model uncertainty
Author :
Ailon, Amit ; Lozano, Rogelio ; Gil, Michael
Author_Institution :
Dept. of Electr. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
Volume :
16
Issue :
6
fYear :
2000
fDate :
12/1/2000 12:00:00 AM
Firstpage :
863
Lastpage :
870
Abstract :
Considers the set-point regulation control problem of rigid and flexible-joint electrically driven robots with model uncertainties and unknown payloads. The proposed control scheme is based on simple linear state and output feedbacks. The resulting controller can also be implemented in a case where the current signal is not measurable. Applications of the approach when the Coulomb friction forces are taken into account have also been considered
Keywords :
asymptotic stability; control system synthesis; friction; manipulators; matrix algebra; state feedback; Coulomb friction forces; electrically driven flexible-joint robot; iterative regulation; linear output feedback; linear state feedback; model uncertainty; rigid-joint electrically driven robots; set-point regulation control problem; unknown payloads; Control systems; Current measurement; Force control; Friction; Linear feedback control systems; Open loop systems; Payloads; Robot control; Torque control; Uncertainty;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.897798
Filename :
897798
Link To Document :
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