SPEEDING UP ROBOT MANIPULATORS WITH ELASTIC JOINTS
نویسندگان
چکیده
منابع مشابه
Pid Regulation of Robot Manipulators with Elastic Joints
This paper studies the stability of a class of PID controller to stabilize robot manipulators with elastic joints. It is shown that a PD action on the rotor position and an integral control action on the link position suffice to provide semiglobal asymptotic stability of the desired link position.
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ژورنال
عنوان ژورنال: ERJ. Engineering Research Journal
سال: 2000
ISSN: 1110-1180
DOI: 10.21608/erjm.2000.71338