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
收藏
页码：993 / 998
页数：6
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