Abstract
This paper presents results on control design of constrained manipulators with flexible joints. It will be assumed that such manipulators are under gravity and contact reaction effects. It is also assumed that measurable joint variables are limited to rotor angles and its velocities. A simple biased proportional and derivative feedback controller is shown to be able to drive the manipulator to a desired configuration specified in link angles with desired contact force specified in the direction normal to the constraint surface at the desired position. A sufficient condition for global stability will be established by using a Lyapunov function which is constructed taking into account the spring stiffness, gravity factors and constraint functions. An example is studied and computer simulation results are presented to show closed-loop performance.
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Editor: M. Corless
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Wang, D., Soh, Y.C. Control of constrained manipulators with flexible joints. Dynamics and Control 6, 33–48 (1996). https://doi.org/10.1007/BF02169460
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DOI: https://doi.org/10.1007/BF02169460