ISSN:
1573-0409
Keywords:
robot dynamic model
;
gravity vector
;
potential function
;
gradient
;
spring stiffness matrix
;
Lyapunov function
;
path independence of line integral
;
Lasalle theorem
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract A linear-state feedback regulator for flexible-joint manipulators is proposed. The link-position vector (in the joint space) is regulated to a given desired position using partial state measurement. The actuator-position vector is regulated to a certain equilibrium point related to the link-desired position. This work uses our earlier result [1] which puts the gravity vector of the robot dynamic model in a new specific form. The fact that the spring matrix representing joint flexibility is of high order of magnitude [3–5] is exploited to prove the global asymptotic stability of the origin of the closed loop system.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF00435718
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