Title :
On “Stability and control of elastic-joint robotic manipulators during constrained-motion tasks”
Author_Institution :
Dipartimento di Elettronica e Inf., Politecnico di Milano, Italy
fDate :
6/1/1997 12:00:00 AM
Abstract :
In the original paper by J.K. Mills (ibid., vol.8, p. 119-26, 1992), a singularly perturbed model of an elastic-joint robotic manipulator has been presented. The author shows that the expression of the boundary layer subsystem is incorrect. The correct expression is given and it is shown that, for a control system designed for rigid robots, the uniform exponential stability of the boundary layer system, required for the application of Tikhonov´s theorem, can still be proven
Keywords :
boundary-value problems; flexible structures; manipulators; stability; Tikhonov´s theorem; boundary layer subsystem; constrained-motion tasks; control system; elastic-joint robotic manipulator control; rigid robots; singularly perturbed model; uniform exponential stability; Actuators; Control systems; Damping; Equations; Jacobian matrices; Lagrangian functions; Manipulators; Robot control; Robot kinematics; Stability;
Journal_Title :
Robotics and Automation, IEEE Transactions on
