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Methodology of Dynamic Actuation for Flexible Magnetic Actuator and Biomimetic Robotics Application

โœ Scribed by Sung Hoon Kim; Hashi, S.; Ishiyama, K.


Book ID
114653762
Publisher
IEEE
Year
2010
Tongue
English
Weight
546 KB
Volume
46
Category
Article
ISSN
0018-9464

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PD control of robot manipulators with jo
โœ R. Lozano; A. Valera; P. Albertos; S. Arimoto; T. Nakayama ๐Ÿ“‚ Article ๐Ÿ“… 1999 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 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