Title

Globally Stable I/O Robust Control Of Flexible Joint Robots

Abstract

This paper presents the first input-output robust control design for the trajectory following problem of a flexible-joint robot manipulator. The proposed design provides a class of controllers which only require position and velocity feedback and ensure global stability. The resulting stability is that the tracking error can be made to be smaller than a design parameter arbitrarily chosen by the designer. The proposed control is robust since it guarantees tracking performance in the presence of high-order nonlinear uncertainties including unknown joint elasticity, unknown parameters, load variation, disturbances. It is practically more important that no measurement on acceleration, jerk, or position and velocity deformation is required.

Publication Date

1-1-1993

Publication Title

Proceedings - IEEE International Conference on Robotics and Automation

Volume

3

Number of Pages

1004-1010

Document Type

Article; Proceedings Paper

Identifier

scopus

Personal Identifier

scopus

Socpus ID

0027151620 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0027151620

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