Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2022.3187345
Abstract: In the past, several motion and force controls were successfully implemented on rigid-joint robots with constraints. With the invention of mechanically compliant robots, the focus on designing controllers for elastic joint robots with constraints is… read more here.
Keywords: motion force; control; joint robots; elastic joint ... See more keywords
Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3068698
Abstract: Like humans or animals, robots with compliant joints are capable of performing explosive or cyclic motions by making systematic use of energy storage and release, and it has been shown that they can outperform their… read more here.
Keywords: gain elastic; speed gain; elastic joint; joint robots ... See more keywords
Nonlinear PI“D”-Type Control of Flexible Joint Robots by Using Motor Position Measurements Is Globally Asymptotically Stable
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2022.3194043
Abstract: An important subject that arises in the position control of robot manipulators is the local or global asymptotic stability of the closed-loop system equilibrium point, especially when an integral action is added to the control… read more here.
Keywords: control; joint robots; motor position; position measurements ... See more keywords
On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2018.2861917
Abstract: In this paper, we present a novel global tracking control approach for elastic-joint robots that can be efficiently computed and is robust against model uncertainties and input disturbances. Elastic-joint robots provide enhanced safety and resiliency… read more here.
Keywords: control; elastic joint; joint robots; inverse dynamics ... See more keywords