Design of global tracking controllers for flexible-joint robots

1993 ◽  
Vol 10 (6) ◽  
pp. 835-846 ◽  
Author(s):  
S. Nicosia ◽  
P. Tomei
Keyword(s):  
Flexible Joint ◽  
Global Tracking ◽  
Flexible Joint Robots ◽  
Tracking Controllers

Global tracking controllers for flexible-joint manipulators: a comparative study

Automatica ◽  
1995 ◽  
Vol 31 (7) ◽  
pp. 941-956 ◽  
Author(s):  
B. Brogliato ◽  
R. Ortega ◽  
R. Lozano
Keyword(s):  
Comparative Study ◽  
Flexible Joint ◽  
Global Tracking ◽  
Tracking Controllers

scholarly journals Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation

2010 ◽  
Vol 2010 ◽  
pp. 1-14 ◽  
Author(s):  
Mohammad Ali Badamchizadeh ◽  
Iraj Hassanzadeh ◽  
Mehdi Abedinpour Fallah
Keyword(s):  
Initial Conditions ◽  
Covariance Matrices ◽  
Flexible Joints ◽  
Velocity Measurements ◽  
Lagrange Equations ◽  
Robust Nonlinear Control ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Simulation Results

Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both observers are designed for the same model and run with the same covariance matrices under the same initial conditions. A five-bar linkage robot with revolute flexible joints is considered as a case study. Simulation results verify the effectiveness of the proposed filters.

Sign in / Sign up

Export Citation Format

Share Document