Technical Communique: PD control of robot manipulators with joint flexibility, actuators dynamics and friction

  • Authors:

  • R. Lozano;A. Valera;P. Albertos;S. Arimoto;T. Nakayama

  • Affiliations:

  • Heudiasyc UMR 6599 CNRS-UTC BP 20.529-60200 Compiegne, France;Dep. Ing. de Sistemas y Automatica, Universidad Politecnica de Valencia, P.O.Box: 22012, E-46071, Spain;Dep. Ing. de Sistemas y Automatica, Universidad Politecnica de Valencia, P.O.Box: 22012, E-46071, Spain;Department of Robotics, Ritsumeikan, University 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan;Department of Robotics, Ritsumeikan, University 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 1999

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Abstract

This paper presents a PD controller for robot manipulator considering simultaneously joint flexibility, actuators dynamics as well as friction. The convergence analysis of the proposed PD controller is carried out using passivity. Global convergence to a desired fixed angular position is proved using only angular position and velocity measurements.