Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Global regulation of robots using only position measurements
Systems & Control Letters
An observer-based set-point controller for robot manipulators with flexible joints
Systems & Control Letters
Estimates of flexible-joint robot model response times and some control applications
Systems & Control Letters
Robot Dynamics and Control
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
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This study presents an explicit upper bound to the norm of the solution of the equation of motion of an n-degree of freedom rigid robot while it is under the action of a PD controller. The resulting upper bound is an exponential function that reflects the effect of the controller gains on the form of the system response. The relevant procedure is applicable also in the case of model uncertainty. A tuning-rule for setting the controller gains and adjusting the system rate of convergence towards the desired operating point has been established. As shown, the effect of the tuning-rule on the resulting upper bound is similar to the one obtained in the case of an appropriate second-order linear system. The applications of the results obtained for a rigid robot model are considered in the framework of the spacecraft attitude control problem. In particular, the present approach might be useful for estimating the rate of convergence and evaluating the region of attraction with respect to a required attitude set-point in the domain of validity of the selected transformation associated with the kinematic representation.