Title :
Regulation of the PPR mobile robot with a flexible joint: a combined passivity and flatness approach
Author :
Espinosa-Pérez, G. ; Sira-Ramfrez, H. ; Rios-Bolívar, M.
Author_Institution :
DEPFI-UNAM, Mexico
Abstract :
A passivity based controller is proposed for the regulation of the prismatic-prismatic-revolute (PPR) mobile robot equipped with an underactuated arm coupled to the main robot body by means of a flexible joint. The system, which happens to be differentially flat, can then be controlled using a combination of the passivity based approach and trajectory planning facilitated by the flatness property of the system
Keywords :
linearisation techniques; mobile robots; nonlinear control systems; path planning; position control; PPR mobile robot; flatness; flexible joint; linearisation; passivity; prismatic-prismatic-revolute robots; trajectory planning; Algorithm design and analysis; Control systems; Design methodology; MIMO; Mobile robots; Nonlinear control systems; Output feedback; Robust control; Trajectory; Uncertain systems;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912346
