Dynamic properties and nonlinear control of robots with mixed rigid/elastic joints

Robotics: Trends, Principles, and Applications - Proceedings of the Sixth Biannual World Automation Congress, WAC

Volumn , Issue , 2004, Pages 97-104

  De Luca, Alessandro ^a   Farina, Riccardo ^a  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

Author keywords

Dynamic feedback linearization; Elastic joints robots; Trajectory tracking

Indexed keywords

COMPUTER SIMULATION; ELASTICITY; FEEDBACK CONTROL; FLEXIBLE MANIPULATORS; JOINTS (STRUCTURAL COMPONENTS); LINEARIZATION; NONLINEAR CONTROL SYSTEMS;

DYNAMIC FEEDBACK LINEARIZATION; ELASTIC JOINTS ROBOTS; KINEMATIC SEQUENCE; TRAJECTORY TRACKING;

ROBOTS;

EID: 32844466768     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. L.M. Sweet and M.C. Good, "Redefinition of the robot motion control problem," IEEE Control Systems Mag., vol. 5, no. 3, pp. 18-24, 1985.
2. M.W. Spong, "Modeling and control of elastic Joint robots," ASME J. of Dynamic Systems, Measurement, and Control, vol. 109, pp. 310-319, 1987.
3. P. Tomei, "A simple PD controller for robots with elastic joints," IEEE Trans. on Automatic Control, vol. 36, no. 10, pp. 1208-1213, 1991.
4. G. Hirzinger, A. Albu-Schäffer, M. Hähnie, I. Schaefer, and N. Sporer, "On a new generation of torque controlled light-weight robots," 2001 IEEE Int. Conf. on Robotics and Automation, pp. 3356-3363, 2001.
5. A. Bicchi, S. Lodi Rizzini, and G. Tonietti, "Compliant design for intrinsic safety: General issues and preliminary design," IEEE/RSJ Int. Conf. an Intelligent Robots and Systems, pp. 1864-1869, 2001.
6. R. Kelly and V. Santibàñez, "Global regulation of elastic Joint robots based on energy shaping," IEEE Trans. on Automatic Control, vol. 43, no. 10, pp. 1451-1450, 1908.
7. L. Zolio, A. De Luca, and B. Siciliano, "Regulation with on-line gravity compensation for robots with elastic Joints," 2004 IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, Apr. 2004.
8. A. De Luca and P. Tomel, "Elastic joints," in Theory of Robot Control, C. Canudas do Wit, B. Siciliano, G. Bastin (Eds.), pp. 179-217, Springer, 1996.
9. A. De Luca and P. Lucibello, "A general algorithm for dynamic feedback linearization of robots with elastic joints," 1998 IEEE Int. Conf. on Robotics and Automation, pp. 504-510, 1998.
10. R. Höpler and M. Thümmel, "Symbolic computation of the inverse dynamics of elastic joint robots," 2004 IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, Apr. 2004.
11. A. De Luca, "Decoupling and feedback linearization of robots with mixed rigid/elastic joints," Int. J. of Robust and Nonlinear Control, vol. 8, no. 11, pp. 965-977, 1998.
12. W.-H. Zhu and J. De Schutter, "Adaptive control of mixed rigid/flexible Joint robot manipulators based on virtual decomposition," IEEE Trans. on Robotics and Automation, vol. 15, no. 2, pp. 310-317, 1999.