Passivity-based Elastic Joint Robot Control with On-line Gravity Compensation
文献类型：会议论文
| 作者 | Ye, Yanlei; Chen, Chin-Yin; Li, Peng; Yang, Guilin; Zhu, Chang-an; Zhang, Chi |
| 出版日期 | 2016 |
| 会议日期 | AUG 01-03, 2016 |
| 关键词 | IMPEDANCE CONTROL TORQUE |
| 英文摘要 | In this paper, a passivity-based controller with the link side on-line gravity compensation for elastic joints of robot manipulators is presented. In this study, a joint level position, torque control law with double loop construction: an outer the motor side position control, and an inner torque feedback are considered. In terms of torque feedback, a physical interpretation is addressed and analyzed for the purpose controller via passivity theory. It is proved by a Lyapunov function that the control law is globally asymptotically stabilizes at any reference configuration. Moreover, the control performance of algorithm is assessed by a simulation; the simulation study reveals a better performance regarding as the torque ripple in contrast to a proportional-derivative (PD) control. |
| 学科主题 | Automation & Control Systems ; Computer Science |
| ISBN号 | 978-1-5090-4102-2 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23413]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Ye, Yanlei,Chen, Chin-Yin,Li, Peng,et al. Passivity-based Elastic Joint Robot Control with On-line Gravity Compensation[C]. 见:. AUG 01-03, 2016. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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