Title :
Control of flexible joint robots
Author :
Mrad, Fouad ; Ahmad, Shaheen
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
A switching control scheme is described for flexible joint robots which does not use link jerk or acceleration feedback. The control scheme does not require the numerical differentiation of the velocity signal or the inversion of the inertial matrices. Simulations are presented to verify the validity of the control scheme and its superiority over existing rigid robot controllers when applied to flexible joint robots
Keywords :
Lyapunov methods; control system analysis; robots; Lyapunov function; flexible joint robots; switching control; Acceleration; Couplings; Feedback; Force control; Manipulator dynamics; Nonlinear equations; Robot control; Service robots; Sliding mode control; Symmetric matrices;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132062
