𝔖 Bobbio Scriptorium
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Dynamics and Control of Elastic Joint Manipulators

✍ Scribed by Clementina D. Mladenova; Peter C. Müller

Book ID
110255998
Publisher
Springer Netherlands
Year
1997
Tongue
English
Weight
229 KB
Volume
20
Category
Article
ISSN
0921-0296

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✍ R. Lozano; A. Valera; P. Albertos; S. Arimoto; T. Nakayama 📂 Article 📅 1999 🏛 Elsevier Science 🌐 English ⚖ 93 KB

This paper presents a PD controller for robot manipulator considering simultaneously joint #exibility, actuators dynamics as well as friction. The convergence analysis of the proposed PD controller is carried out using passivity. Global convergence to a desired "xed angular position is proved using