A simple controller is presented for the regulation problem of robot arms with flexible links under gravity. It consists of a joint PD feedback plus a constant feedforward. Global asymptotic stability of the reference equilibrium state is shown under a structural assumption about link elasticity and a mild condition on the proportional gain. The result holds also in the absence of internal damping of the flexible arm. A numerical case study is presented.
Regulation of Flexible Arms Under Gravity / A., DE LUCA; Siciliano, Bruno. - In: IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. - ISSN 1042-296X. - STAMPA. - 9:(1993), pp. 463-467. [10.1109/70.246057]
Regulation of Flexible Arms Under Gravity
SICILIANO, BRUNO
1993
Abstract
A simple controller is presented for the regulation problem of robot arms with flexible links under gravity. It consists of a joint PD feedback plus a constant feedforward. Global asymptotic stability of the reference equilibrium state is shown under a structural assumption about link elasticity and a mild condition on the proportional gain. The result holds also in the absence of internal damping of the flexible arm. A numerical case study is presented.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
