Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression

IEEE Transactions on Industrial Electronics, pp. 4840-4848, 2018.

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摘要

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

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