PD control of robot manipulators with joint flexibility, actuators dynamics and friction

Abstract:

This paper presents a PD controller for robot manipulator considering simultaneously joint flexibility, actuators dynamics as well as friction. The convergence analysis of the proposed PD controller is carried out using passivity. Global convergence to a desired fixed angular position is proved using only angular position and velocity measurements.

Año de publicación:

1999

Keywords:

Fuente:

scopus