| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 6867395 | Robotics and Autonomous Systems | 2018 | 14 Pages |
Abstract
This paper presents a position control scheme for flexible joint robot (FJR). Traditional energy shaping controller with gravity compensation is revisited first and some drawbacks are analyzed; on this basis, a nonlinear state feedback controller along with energy shaping is provided, which can enhance the residual vibration suppression and reduce the overshoots of motor position. Boundedness analysis is presented and global convergence is analytically proven. Experiment results illustrate effectiveness of the proposed scheme.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Wei Yin, Lei Sun, Meng Wang, Jingtai Liu,