Abstract:
In this note we present two control schemes for flexible joint robots, which combines generalized PI (GPI), control with energy shaping-damping injection control. We intr...Show MoreMetadata
Abstract:
In this note we present two control schemes for flexible joint robots, which combines generalized PI (GPI), control with energy shaping-damping injection control. We introduce a velocity reconstructor to avoid measurements of this variable. In both cases, we show global asymptotic stability of the desired equilibrium point.
Date of Conference: 04-06 June 2003
Date Added to IEEE Xplore: 03 November 2003
Print ISBN:0-7803-7896-2
Print ISSN: 0743-1619
Contents 