Title :
An asymptotically stable joint PD controller for robot arms with flexible links under gravity
Author :
De Luca, Alessandro ; Siciliano, Bruno
Author_Institution :
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
Abstract :
The authors present a simple joint PD (proportional plus derivative) control scheme for robots with flexible links which guarantees global asymptotic stability of a desired constant arm configuration in the presence of gravity. A structural assumption about link elasticity is required and a mild condition on the proportional gain is derived. The proof of global asymptotic instability goes through a classical Lyapunov argument. The control law does not require any feedback from the deflection variables and is composed of a linear term plus a nominal feedforward term
Keywords :
Lyapunov methods; control system synthesis; dynamics; elasticity; manipulators; robots; stability; stability criteria; two-term control; Lyapunov argument; asymptotically stable joint; control law; dynamic model; feedforward term; flexible links; global asymptotic stability; gravity; linear term; link elasticity; manipulators; proportional gain; proportional+derivative controller; robot arms; Asymptotic stability; Elasticity; Feedback; Gravity; Linear feedback control systems; Manipulators; Nonlinear equations; PD control; Proportional control; Robot control; Robot kinematics; Symmetric matrices;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371728
