Direct-drive robots: theory and practice
Direct-drive robots: theory and practice
Experimental evaluation of nonlinear feedback and feedforward control schemes for manipulators
International Journal of Robotics Research
Model-based control of a robot manipulator
Model-based control of a robot manipulator
Robot Dynamics and Control
The role of viscous friction damping in adaptive output feedback tracking control of manipulators
ICAI'07 Proceedings of the 8th Conference on 8th WSEAS International Conference on Automation and Information - Volume 8
Protection ellipsoids for stability analysis of feedforward neural-net controllers
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
A saturated PD plus scheme for asymptotic tracking of robot manipulators
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Servo-fluid-elastic modeling of contactless levitated adaptive secondary mirrors
Computational Mechanics
| Hi-index | 0.00 |
One of the simplest and natural appealing motion control strategies for robot manipulators is the PD control with feedforward compensation. Although successful experimental tests of this control scheme have been published since the beginning of the eighties, the proof of global asymptotic stability has remained unattended until now. The contribution of this paper is to prove that global asymptotic stability can be guaranteed provided that the proportional and derivative gains are adequately selected. The performance of the PD control with feedforward compensation evaluated on a two degrees-of-freedom direct-drive arm appears as fine as the classical model-based computed torque control scheme.