REGULATION OF FLEXIBLE ARMS UNDER GRAVITY

被引：49

作者：

DELUCA, A ^{[1
]}

SICILIANO, B ^{[1
]}

机构：

[1] UNIV NAPOLI FED 2,DIPARTAMENTO INFORMAT & SISTEMIST,I-80125 NAPLES,ITALY

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1993年 / 9卷 / 04期

关键词：

D O I：

10.1109/70.246057

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A simple controller is presented for the regulation problem of robot arms with flexible links under gravity. It consists of a joint PD feedback plus a constant feedforward. Global asymptotic stability of the reference equilibrium state is shown under a structural assumption about link elasticity and a mild condition on the proportional gain. The result holds also in the absence of internal damping of the flexible arm. A numerical case study is presented.

引用

页码：463 / 467

页数：5