DocumentCode
486204
Title
On the Control of Robots with Elastic Joints
Author
Marino, R. ; Nicosia, S.
Author_Institution
Dipartimento di Ingegneria Elettronica, Seconda UniversitÃ\xa0 di Roma, via O. Raimondo, 00173 Roma Italy
fYear
1985
fDate
19-21 June 1985
Firstpage
69
Lastpage
70
Abstract
The problem of controlling robots with flexible joints is considered. After recalling the exact nonlinear model it is shown that the model is singularly perturbed if joints are nearly stiff. Singular perturbation techniques are used to add a stabilizing control signal to well established control laws obtained under the assumption of stiff joints.
Keywords
Actuators; Displacement control; Equations; Nonlinear dynamical systems; Orbital robotics; Robot control; Rotors; State feedback; Stators; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1985
Conference_Location
Boston, MA, USA
Type
conf
Filename
4788582
Link To Document