By Topic

On the Control of Robots with Elastic Joints

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
R. Marino ; Dipartimento di Ingegneria Elettronica, Seconda Università di Roma, via O. Raimondo, 00173 Roma Italy ; S. Nicosia

The problem of controlling robots with flexible joints is considered. After recalling the exact nonlinear model it is shown that the model is singularly perturbed if joints are nearly stiff. Singular perturbation techniques are used to add a stabilizing control signal to well established control laws obtained under the assumption of stiff joints.

Published in:

American Control Conference, 1985

Date of Conference:

19-21 June 1985