Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression.
IEEE Transactions on Industrial Electronics(2018)
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 asymptotic stability is guaranteed, and each signal of closed l...
更多查看译文
关键词
Vibrations,Friction,Robots,Position control,Gravity,Torque,Frequency modulation
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要