DocumentCode :
490015
Title :
Lyapunov Based Control of Multiple Flexible Joint Robots
Author :
Zribi, Mohamed ; Ahmad, Shaheen
Author_Institution :
Real-Time Robot Control Laboratory, School of Electrical Engineering., Purdue University, West Lafayette, IN 47907-1285, USA
fYear :
1992
fDate :
24-26 June 1992
Firstpage :
3324
Lastpage :
3328
Abstract :
In this paper, we address the problem of controlling multiple flexible joint robots manipulating a common load cooperatively. The load position and velocity tracking errors are shown to converge to zero. The internal forces exerted on the load are also shown to converge to their desired trajectories. Asymptotic stability of the system is insured regardless of the joint flexibility and despite the fact that force sensors mounted on the robot wrist are not employed.
Keywords :
Cities and towns; FAA; Gravity; Helium; Robots; Samarium; Silicon compounds; Tellurium; Torque; US Department of Transportation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 1992
Conference_Location :
Chicago, IL, USA
Print_ISBN :
0-7803-0210-9
Type :
conf
Filename :
4792767
Link To Document :
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