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PD control of robot manipulators with joint flexibility, actuators dynamics and friction

✍ Scribed by R. Lozano; A. Valera; P. Albertos; S. Arimoto; T. Nakayama

Publisher: Elsevier Science
Year: 1999
Tongue: English
Weight: 93 KB
Volume: 35
Category: Article
ISSN: 0005-1098
DOI: 10.1016/s0005-1098(99)00083-7

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✦ Synopsis

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 only angular position and velocity measurements.

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