Dynamic properties and nonlinear control of robots with mixed rigid/elastic joints

被引：0
|
作者：
De Luca, A [1 ]
Farina, R [1 ]
机构：
[1] Univ Roma La Sapienza, Dipartimento Informat & Sistemist, I-00184 Rome, Italy
来源：
ROBOTICS: TRENDS, PRINCIPLES AND APPLICATIONS, VOL 15 | 2004年 / 15卷
关键词：
elastic joints; robots; trajectory tracking; dynamic feedback linearization;
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：
Compliance in motion transmission components is the main source of vibrational behavior in robot manipulators. Since the actuator/transmission design may differ from joint to joint, many robot arms have some joints that can be considered completely rigid and some other where elasticity is relevant. We consider dynamic modeling and control design for robot manipulators with mixed rigid/clastic joints. A nonlinear dynamic feedback controller is presented that allows to achieve exact linearization and input-output decoupling for the general class of robots having mixed rigid/clastic joints in any possible kinematic sequence. Simulation results are presented for a 2R planar arm having only the second joint elastic.
引用
收藏
页码：97 / 104
页数：8
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