PD control with on-line gravity compensation for robots with flexible links

Author

Zollo, Loredana ; Siciliano, Bruno ; De Luca, Alessandro ; Guglielmelli, Eugenio

Author_Institution

Biomed. Robot. & EMC Lab., Univ. Campus Bio-Medico, Rome, Italy

fYear

2007

fDate

2-5 July 2007

Firstpage

4365

Lastpage

4370

Abstract

A proportional-derivative (PD) control with online gravity compensation is proposed for regulation tasks of robot manipulators with flexible links. The control law is an extension of a previous PD control with constant gravity compensation at the desired configuration. It is based on a gravity-biased modification of the desired link deflection and requires measuring only position and velocity on the joint side. Global asymptotic stability of the control law at the desired robot configuration is proven via Lyapunov argument and La Salle´s Theorem. Simulation tests on a two-link arm are carried out in order to compare performance of the new scheme with respect to the case of constant gravity compensation and results on the advantages of the on-line compensation are shown.

Keywords

PD control; asymptotic stability; compensation; flexible manipulators; regulation; La Salle´s theorem; Lyapunov argument; PD control; constant gravity compensation; control law; flexible links; global asymptotic stability; gravity-biased modification; link deflection; online gravity compensation; proportional-derivative control; regulation tasks; robot configuration; robot manipulators; two-link arm; Asymptotic stability; Gravity; Joints; PD control; Robot kinematics; Torque; Flexible links; PD control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2007 European

Conference_Location

Kos

Print_ISBN

978-3-9524173-8-6

Type

conf

Filename

7068344