A passivity-based control case study of flexible-link manipulators

被引：0

作者：

Christoforou, EG ^{[1
]}

Damaren, CJ ^{[1
]}

机构：

[1] Washington Univ, Mallinckrodt Inst Radiol, St Louis, MO 63110 USA

来源：

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年

关键词：

flexible-link robots; passivity-based control; modified input/output;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The robotic control problem is considered from the passivity-based control point of view and a modified version of the computed torque method for rigid robots is briefly reviewed. A control strategy suitable for flexible-link robots manipulating large payloads is also presented, which effectively exploits the passivity property satisfied by a suitably defined set of inputs and outputs for the system in conjunction with an approximate model of the dynamics. Both of the above control schemes are experimentally implemented on a flexible-link, multi-joint arm in order to investigate their characteristics and provide useful insight into the control problem for flexible robots.

引用

页码：993 / 998

页数：6

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