Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Set-Point Control of Elastic Joint Robots Using only Position Measurements

  • Son, Young-Ik (School of Electrical, Electronic & Computer Engineering, Dong-A University) ;
  • Hyungbo Shim (Division of Electrical and Computer Engineering, Hanyang University) ;
  • Seo, Jin-Heon (School of Electrical Engineering#23, Seoul National University)
  • Published : 2002.08.01
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Abstract

Motivated by the dynamic output feedback passification results, point-to-point control laws for an elastic joint robot are presented when only the position measurements are available. The proposed method makes a parallel connection of the robot system and an input-dimensional linear system which obtains the effect of the desired differentiators. It is shown that the closed-loop nonlinear robot system can be rendered output strictly passive and the regulation of the system is achieved in the end. Robustness analysis is also given with regard to uncertainties on the robot parameters. Performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints.

Keywords

References

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