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Inverse dynamics of spatial open-chain flexible manipulators with lumped and distributed actuators

✍ Scribed by Ledesma, Ragnar ;Devasia, Santosh ;Bayo, Eduardo

Book ID
112187054
Publisher
John Wiley and Sons
Year
1994
Tongue
English
Weight
986 KB
Volume
11
Category
Article
ISSN
0741-2223

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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