Iterative regulation of an electrically driven flexible-joint robot with model uncertainty

Author

Ailon, Amit ; Lozano, Rogelio ; Gil, Michael

Author_Institution

Dept. of Electr. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel

Volume

16

Issue

6

fYear

2000

fDate

12/1/2000 12:00:00 AM

Firstpage

863

Lastpage

870

Abstract

Considers the set-point regulation control problem of rigid and flexible-joint electrically driven robots with model uncertainties and unknown payloads. The proposed control scheme is based on simple linear state and output feedbacks. The resulting controller can also be implemented in a case where the current signal is not measurable. Applications of the approach when the Coulomb friction forces are taken into account have also been considered

Keywords

asymptotic stability; control system synthesis; friction; manipulators; matrix algebra; state feedback; Coulomb friction forces; electrically driven flexible-joint robot; iterative regulation; linear output feedback; linear state feedback; model uncertainty; rigid-joint electrically driven robots; set-point regulation control problem; unknown payloads; Control systems; Current measurement; Force control; Friction; Linear feedback control systems; Open loop systems; Payloads; Robot control; Torque control; Uncertainty;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.897798

Filename

897798