Global regulation of elastic joint robots based on energy shaping

Author

Kelly, Rafael ; Santibanez, Víctor

Author_Institution

Div. de Fisica Aplicada, CICESE, Ensenada, Mexico

Volume

43

Issue

10

fYear

1998

fDate

10/1/1998 12:00:00 AM

Firstpage

1451

Lastpage

1456

Abstract

The energy-shaping methodology introduced by Takegaki and Arimoto (1981) is a powerful tool for global regulator design for rigid robot manipulators. In this paper we extend this approach to the global regulator design for elastic joint robots. Under this framework we broach the cases when rotor positions and velocities are available for measurement as well as when only rotor positions can be measured. The structure of these regulators is given by the gradient of a suitable class of artificial potential energies and damping injection via rotor velocity or an appropriate filtering of rotor position

Keywords

closed loop systems; damping; feedback; flexible structures; position control; robot dynamics; stability; velocity control; vibration control; closed loop systems; damping; dynamics; elastic joint robots; energy shaping; feedback; flexible structure; global regulator; position control; stability; velocity control; Control systems; Feedback; Filtering; Manipulators; Position measurement; Regulators; Robot kinematics; Service robots; Shape control; Velocity measurement;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.720506

Filename

720506