DocumentCode
2253602
Title
Generalized PI control for global position regulation of flexible joint robot manipulators
Author
Hernández, Victor M. ; Sira-Ramírez, Hebertt
Author_Institution
Dept. de Ing. Electr., CINVESTAV-IPN, Mexico City, Mexico
Volume
6
fYear
2003
fDate
4-6 June 2003
Firstpage
5252
Abstract
In this note we present two control schemes for flexible joint robots, which combines generalized PI (GPI), control with energy shaping-damping injection control. We introduce a velocity reconstructor to avoid measurements of this variable. In both cases, we show global asymptotic stability of the desired equilibrium point.
Keywords
PI control; asymptotic stability; flexible manipulators; position control; energy shaping-damping injection control; equilibrium point; flexible joint robot manipulators; generalized PI; generalized proportional integral control; global asymptotic stability; global position regulation; integral reconstructors; velocity reconstructor; Asymptotic stability; Control systems; Damping; Linear systems; Manipulators; Pi control; Robot control; Shape control; Velocity control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2003. Proceedings of the 2003
ISSN
0743-1619
Print_ISBN
0-7803-7896-2
Type
conf
DOI
10.1109/ACC.2003.1242561
Filename
1242561
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