Global regulation of elastic joint robots based on energy shaping

  • Kelly R
  • Santibáñez V
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Abstract

The energy-shaping methodology introduced by Takegaki and Arimoto in
1981 is a powerful tool for global regulator design for rigid robot
manipulators. In this paper we extend this approach to the global
regulator design for elastic joint robots. Under this framework we
broach the cases when rotor positions and velocities are available for
measurement as well as when only rotor positions can be measured. The
structure of these regulators is given by the gradient of a suitable
class of artificial potential energies and damping injection via rotor
velocity or an appropriate filtering of rotor position.

Author-supplied keywords

  • Flexible structure
  • Regulator
  • Robots
  • Stability

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Authors

  • Rafael Kelly

  • Víctor Santibáñez

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