IEEE Transactions on Automatic Control · 1991 · 542 citations · 10 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot KinematicsRoboticsDifferential KinematicsKinematic ControlManipulation ControlManipulator ControlManipulator DynamicsRobot ManipulatorsDynamics Of Robotic ManipulatorsElastic Joint DynamicsNumerical SimulationRevolute JointsRobot Link ParametersRobot Manipulator Equations Of MotionRobustness Analysis
The point-to-point control of manipulators having elastic joints is considered. It is shown that a simple PD (proportional plus derivative) controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position. A robustness analysis is also given with respect to uncertainties on the robot parameters. The results of numerical simulation tests of a manipulator with three revolute elastic joints are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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