A new approach to control elastic joint robots with application to adaptive control

Author

Nicosia, Salvatore ; Tomei, Patrizio

Author_Institution

Dipartimento di Ingegneria Elettronica, Roma Univ., Italy

fYear

1991

fDate

11-13 Dec 1991

Firstpage

343

Abstract

A new approach to control robots having elastic joints is presented. The control law guarantees global asymptotic stability of the closed loop system either for regulation about a reference point or for tracking of a desired bounded reference trajectory. It is shown that this approach may be applied to derive globally convergent adaptive control algorithms. This is illustrated by an application of the proposed approach to a simple robot consisting of a single-link revolute jointed manipulator with flexibility in the joint

Keywords

adaptive control; closed loop systems; position control; robots; stability; bounded reference trajectory; closed loop system; elastic joint robots; global asymptotic stability; globally convergent adaptive control algorithms; single-link revolute jointed manipulator; tracking; Actuators; Adaptive control; Asymptotic stability; Closed loop systems; Control systems; Convergence; Elasticity; Equations; Manipulators; Nonlinear control systems; Programmable control; Robot control; System testing; Tracking loops; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1991., Proceedings of the 30th IEEE Conference on

Conference_Location

Brighton

Print_ISBN

0-7803-0450-0

Type

conf

DOI

10.1109/CDC.1991.261319

Filename

261319