Learning gravity compensation in robots: Rigid arms, elastic joints, flexible links
نویسندگان
چکیده
منابع مشابه
Learning Gravity Compensation in Robots: Rigid Arms, Elastic Joints, Flexible Links Alessandro De Luca and Stefan0 Panzieri
The setpoint regulation problem for robotic manipulators is a basic task that can be solved either by PID control or by model-based gravity compensation. These approaches are commonly applied both to rigid arms and to robots with flexible links and/or elastic joints. However, PID control requires fine and lengthy tuning of gains in order to achieve good performance over the whole workspace. Mor...
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A proportional-derivative (PD) control with on-line gravity compensation is proposed for regulation tasks of robot manipulators with elastic joints. The work extends a previous PD control with constant gravity compensation at the desired configuration. The control law requires measuring only position and velocity on the motor side of the elastic joints, while the on-line gravity compensation to...
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AbstmctmMimicking the case of rigid robot arms, the set-point regulation problem for manipulators with flexible links moving under gravity can be solved by either model-based compensation or l i D control. The former cannot be applied if an unknown payload is present or when model parameters are poorly estimated, while the latter requires fine and lengthy tuning of gains in order to achieve goo...
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ژورنال
عنوان ژورنال: International Journal of Adaptive Control and Signal Processing
سال: 1993
ISSN: 0890-6327,1099-1115
DOI: 10.1002/acs.4480070510