PD control of robot manipulators with joint flexibility, actuators dynamics and friction

Automatica

Volumn 35, Issue 10, 1999, Pages 1697-1700

  Lozano, R ^a   Valera, A ^b   Albertos, P ^b   Arimoto, S ^c   Nakayama, T ^c  

^a UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

^b UNIVERSITAT POLITÈCNICA DE VALÈNCIA   (Spain)

^c RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; CONTROL SYSTEM ANALYSIS; CONVERGENCE OF NUMERICAL METHODS; FRICTION; LYAPUNOV METHODS; MATHEMATICAL MODELS; POSITION MEASUREMENT; ROBOTIC ARMS; SYSTEM STABILITY; VELOCITY MEASUREMENT;

PROPORTIONAL-DERIVATIVE (PD) CONTROL;

MANIPULATORS;

EID: 0032598757     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0005-1098(99)00083-7     Document Type: Article

References (10)

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2. Tomei, P. (1991b). A simple PD controller for robots with elastic joints. IEEE Transactions on Automatic Control, 36(10), 1208-1213.
3. Lozano, R., & Brogliato, B. (1992). Adaptive control of robot manipulators with flexible joints. IEEE Transactions on Automatic Control, 37.
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5. Canudas, C.H., Olson, K.J., Aström, & Lischinsky, P. (1995.) A new model for control of systems with friction. IEEE Transactions on Automatic Control 40(34), 415-425.
6. ∞ optimal tuning of the saturated PID controller for robot arm using the passivity and dissipativity. IFAC World Congress 1996, San Francisco, California
7. Arimoto, S. (1995). Nonlinear position-dependent circuits for mechanical motion control. Proceedings of IFAC Workshop on Motion Control, Munich. October 1995.
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9. Spong, M. W. (1989). Adaptive control of flexible joint manipulators. Systems and Control Letters, 13, 15-21.
10. Khalil, H. (1992). Nonlinear Systems. New York: MacMillan.