Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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A V-Shaped Lyapunov Function Approach to Model-Based Control of Flexible-Joint Robots

  • Lee, Ho-Hoon (Department of Mechanical Engineering, University of Suwon) ;
  • Park, Seung-Gap (Instrumentation ＆Control Research Group, POSCO Technical Research Laboratories)
  • Published : 2000.11.01
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Abstract

This paper proposes a V-shaped Lyapunov function approach for the model-based control of flexible-joint robots, in which a new model-based nonlinear control scheme is designed based on a V-shaped Lyapunov function. The proposed control guarantees global asymptotic stability for link trajectory control while keeping all internal signals bounded. Since joint flexibility is used as a control parameter, the proposed control is not restricted by the degree of joint flexibility and be applied to flexibility-joint, partly-flexibility, or rigid-joint robots without modification. the effectiveness of the proposed control has been by computer simulation.

Keywords

References

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