Title :
On the Control of Robots with Elastic Joints
Author :
Marino, R. ; Nicosia, S.
Author_Institution :
Dipartimento di Ingegneria Elettronica, Seconda UniversitÃ\xa0 di Roma, via O. Raimondo, 00173 Roma Italy
Abstract :
The problem of controlling robots with flexible joints is considered. After recalling the exact nonlinear model it is shown that the model is singularly perturbed if joints are nearly stiff. Singular perturbation techniques are used to add a stabilizing control signal to well established control laws obtained under the assumption of stiff joints.
Keywords :
Actuators; Displacement control; Equations; Nonlinear dynamical systems; Orbital robotics; Robot control; Rotors; State feedback; Stators; Torque;
Conference_Titel :
American Control Conference, 1985
Conference_Location :
Boston, MA, USA
