Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics

Amit Ailon; Rogelio Lozano-Leal; Michael Gil'

doi:10.1109/9.566669

Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics

Amit Ailon
, Rogelio Lozano-Leal
, Michael Gil'

Research output: Contribution to journal › Article › peer-review

17 Scopus citations

Abstract

This paper considers the set-point tracking problem in rigid and flexible-joint robots when both the mechanical as well as the electrical effects of the actuator dynamics are taken into account. The suggested controllers are based on state and output feedbacks. The current approach demonstrates that for every given desired operating point, linear state and output feedbacks with constant feedforwards can be constructed such that the closed-loop system is globally asymptotically stable.

Original language	English
Pages (from-to)	559-564
Number of pages	6
Journal	IEEE Transactions on Automatic Control
Volume	42
Issue number	4
DOIs	https://doi.org/10.1109/9.566669
State	Published - 1 Dec 1997

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Electric drives
Flexible-joint robot
Global asymptotic stability
State and output feedbacks

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/9.566669

Cite this

@article{a7b0906dea2444cd860653b5c3514b24,

title = "Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics",

abstract = "This paper considers the set-point tracking problem in rigid and flexible-joint robots when both the mechanical as well as the electrical effects of the actuator dynamics are taken into account. The suggested controllers are based on state and output feedbacks. The current approach demonstrates that for every given desired operating point, linear state and output feedbacks with constant feedforwards can be constructed such that the closed-loop system is globally asymptotically stable.",

keywords = "Electric drives, Flexible-joint robot, Global asymptotic stability, State and output feedbacks",

author = "Amit Ailon and Rogelio Lozano-Leal and Michael Gil'",

year = "1997",

month = dec,

day = "1",

doi = "10.1109/9.566669",

language = "English",

volume = "42",

pages = "559--564",

journal = "IEEE Transactions on Automatic Control",

issn = "0018-9286",

publisher = "Institute of Electrical and Electronics Engineers",

number = "4",

}

TY - JOUR

T1 - Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics

AU - Ailon, Amit

AU - Lozano-Leal, Rogelio

AU - Gil', Michael

PY - 1997/12/1

Y1 - 1997/12/1

N2 - This paper considers the set-point tracking problem in rigid and flexible-joint robots when both the mechanical as well as the electrical effects of the actuator dynamics are taken into account. The suggested controllers are based on state and output feedbacks. The current approach demonstrates that for every given desired operating point, linear state and output feedbacks with constant feedforwards can be constructed such that the closed-loop system is globally asymptotically stable.

AB - This paper considers the set-point tracking problem in rigid and flexible-joint robots when both the mechanical as well as the electrical effects of the actuator dynamics are taken into account. The suggested controllers are based on state and output feedbacks. The current approach demonstrates that for every given desired operating point, linear state and output feedbacks with constant feedforwards can be constructed such that the closed-loop system is globally asymptotically stable.

KW - Electric drives

KW - Flexible-joint robot

KW - Global asymptotic stability

KW - State and output feedbacks

UR - https://www.scopus.com/pages/publications/0031125056

U2 - 10.1109/9.566669

DO - 10.1109/9.566669

M3 - Article

AN - SCOPUS:0031125056

SN - 0018-9286

VL - 42

SP - 559

EP - 564

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 4

ER -

Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics

Abstract

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this