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 / DE LUCA, Alessandro; Bruno, Siciliano. - In: IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. - ISSN 1042-296X. - 9:4(1993), pp. 463-467. [10.1109/70.246057]
REGULATION OF FLEXIBLE ARMS UNDER GRAVITY
DE LUCA, Alessandro;
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.
