A new approach to control elastic joint robots with application to adaptive control

A new approach to control robots having elastic joints is presented. The control law guarantees global asymptotic stability of the closed loop system either for regulation about a reference point or for tracking of a desired bounded reference trajectory. It is shown that this approach may be applied...

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Bibliographic Details
Published inIEEE Decision and Control, 1991 pp. 343 - 347 vol.1
Main Authors Nicosia, S., Tomei, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1991
Subjects
Actuators
Adaptive control
Convergence
Elasticity
Equations
Nonlinear control systems
Programmable control
Robot control
System testing
Trajectory
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ISBN0780304500
9780780304505
DOI10.1109/CDC.1991.261319

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Summary:A new approach to control robots having elastic joints is presented. The control law guarantees global asymptotic stability of the closed loop system either for regulation about a reference point or for tracking of a desired bounded reference trajectory. It is shown that this approach may be applied to derive globally convergent adaptive control algorithms. This is illustrated by an application of the proposed approach to a simple robot consisting of a single-link revolute jointed manipulator with flexibility in the joint.< >
ISBN:0780304500
9780780304505
DOI:10.1109/CDC.1991.261319