Regulation of flexible arms under gravity
Journal Article
·
· IEEE Transactions on Robotics and Automation
- Univ. di Roma, Rome (Italy). Dipt. di Informatica e Sistemistica
- Univ. di Napoli Federico, Napoli (Italy). Dipt. di Informatica e Sistemistica
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.
- OSTI ID:
- 142463
- Journal Information:
- IEEE Transactions on Robotics and Automation, Vol. 9, Issue 4; Other Information: PBD: Aug 1993
- Country of Publication:
- United States
- Language:
- English
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