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A simple PD controller for robots with elastic joints

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1 Author(s)
Tomei, P. ; Dipartimento di Ingegneria Elettronica, Seconda Univ. di Roma, Italy

The point-to-point control of manipulators having elastic joints is considered. It is shown that a simple PD (proportional plus derivative) controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position. A robustness analysis is also given with respect to uncertainties on the robot parameters. The results of numerical simulation tests of a manipulator with three revolute elastic joints are presented

Published in:

Automatic Control, IEEE Transactions on  (Volume:36 ,  Issue: 10 )