A SIMPLE PD CONTROLLER FOR ROBOTS WITH ELASTIC JOINTS

被引：369

作者：

TOMEI, P

机构：

[1] Dipartimento di Ingegneria Elettronica, Seconda Universita di Roma, Tor Vergata, 00173, Roma

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1991年 / 36卷 / 10期

关键词：

D O I：

10.1109/9.90238

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This note is concerned with the point to point control of manipulators having elastic joints. It is shown that a simple PD controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position. A robustness analysis is also given with respect to uncertainties on the robot parameters. This note is completed by some simulations tests referred to a manipulator with three revolute elastic joints.

引用

页码：1208 / 1213

页数：6

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