Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression
IEEE Transactions on Industrial Electronics, pp. 4840-4848, 2018.
This paper presents a position control scheme for flexible joint robot based on online gravity compensation (OGC). After concluding some drawbacks of OGC-based PD control law, a nonlinear state feedback controller is designed, where analysis for overshoots of motor side and residual vibration of link side is provided. It is shown that asy...更多
下载 PDF 全文 (上传PDF)