Global regulation of flexible joint robots using approximate differentiation

Author

Kelly, R. ; Ortega, R. ; Ailon, A. ; Loria, A.

Author_Institution

Div. de Fisica Aplic., CICESE, Ensenada, Mexico

Volume

39

Issue

6

fYear

1994

fDate

6/1/1994 12:00:00 AM

Firstpage

1222

Lastpage

1224

Abstract

Tomei (1991) presented a globally asymptotically stable PD regulator for robots with flexible joints. A drawback of this scheme is that, as is well known, noise in velocity measurements degrades performance, and numerical differentiation is inaccurate for low and high speeds. On the other hand, approximate differentiation, replacing the derivative operator p by the high pass filter (bp/p+a), is commonly used in applications since it yields good behavior for regulation tasks. In this paper, we show that velocity measurement in Tomei´s scheme can be replaced by approximate differentiation preserving global asymptotic stability for all positive values of b and a. Simulations that illustrate our result are also presented

Keywords

control system analysis; differentiation; filtering and prediction theory; robots; stability; two-term control; approximate differentiation; flexible joint robots; flexible joints; global asymptotic stability; global regulation; high pass filter; robots; stable PD regulator; velocity measurement; Asymptotic stability; Degradation; Eigenvalues and eigenfunctions; Filters; PD control; Regulators; Robot sensing systems; Robotics and automation; Symmetric matrices; Velocity measurement;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.293181

Filename

293181