Output regulation for flexible-joint manipulators using partial state measurement
✍ Scribed by A. A. Abouelsoud; M. F. Hassan; M. A. Sultan
- Book ID
- 104772143
- Publisher
- Springer Netherlands
- Year
- 1996
- Tongue
- English
- Weight
- 350 KB
- Volume
- 17
- Category
- Article
- ISSN
- 0921-0296
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✦ Synopsis
A linear-state feedback regulator for flexible-joint manipulators is proposed. The linkposition vector (in the joint space) is regulated to a given desired position using partial state measurement. The actuator-position vector is regulated to a certain equilibrium point related to the link-desired position. This work uses our earlier result [1] which puts the gravity vector of the robot dynamic model in a new specific form. The fact that the spring matrix representing joint flexibility is of high order of magnitude [3][4][5] is exploited to prove the global asymptotic stability of the origin of the closed loop system.