A tracking controller for flexible joint robots using only link position feedback

A dynamic output feedback controller for flexible joint robots is presented which guarantees tracking of a desired trajectory, starting from arbitrary initial conditions. The controller needs only the measurements of the positions of the links and the knowledge of an upper bound on the initial error.<<ETX>>

[1]  M. Vidyasagar.  On the stabilization of nonlinear systems using state detection , 1980 .

[2]  Salvatore Nicosia,et al.  Trajectory Tracking by Output Feedback of Flexible Joint Robots , 1993 .

[3]  R. Marino,et al.  Global adaptive output-feedback control of nonlinear systems. I. Linear parameterization , 1993, IEEE Trans. Autom. Control..

[4]  Patrizio Tomei,et al.  Design of global tracking controllers for flexible-joint robots , 1993, J. Field Robotics.

[5]  J. Slotine,et al.  On the Adaptive Control of Robot Manipulators , 1987 .

[6]  S. Nicosia,et al.  Robot control by using only joint position measurements , 1990 .

[7]  P. Tomei.  A simple PD controller for robots with elastic joints , 1991 .

[8]  John T. Wen,et al.  Simulation and analysis of flexibly jointed manipulators , 1990, 29th IEEE Conference on Decision and Control.

[9]  M. Spong.  Modeling and Control of Elastic Joint Robots , 1987 .

[10]  Salvatore Nicosia,et al.  Output feedback control of flexible joint robots , 1993, Proceedings of IEEE Systems Man and Cybernetics Conference - SMC.

[11]  P. Tomei.  An observer for flexible joint robots , 1990 .

[12]  I. Kanellakopoulos,et al.  Integral-Action Nonlinear Control of Induction Motors 1 , 1993 .

[13]  Patrizio Tomei,et al.  A Method for the state estimation of elastic joint robots by global position measurements , 1990 .

[14]  Riccardo Marino,et al.  Adaptive Output Feedback Control of Current-fed Induction Motors , 1993 .

[15]  Malcolm Good,et al.  Dynamic Models for Control System Design of Integrated Robot and Drive Systems , 1985 .

[16]  Wolfgang Hahn,et al.  Stability of Motion , 1967 .

[17]  Romeo Ortega,et al.  Global regulation of flexible joint robots using approximate differentiation , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.